From fb03be0e4fa0fcc8bc4b21c1140354c8b8e5545e Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 12 Aug 2026 00:26:17 -0700
Subject: [PATCH] #usd Update third_party/mujoco and third_party/py/mujoco to
 USD v26

Update USD dependency module paths, includes, Python imports, and plugin registration configurations across third_party/mujoco and third_party/py/mujoco from USD v23 to USD v26.

PiperOrigin-RevId: 963260526
Change-Id: I3778608cb03c8903d0f545c76ae91effba3ec364
---
 plugin/usd_decoder/kinematic_tree.cc                  | 3 ++-
 plugin/usd_decoder/material_parsing.cc                | 2 --
 plugin/usd_decoder/material_parsing.h                 | 2 +-
 plugin/usd_decoder/usd_decoder.cc                     | 4 +---
 src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc    | 1 -
 src/experimental/usd/utils.cc                         | 3 +++
 src/experimental/usd/writer.cc                        | 2 +-
 test/experimental/usd/mjcPhysics/mjc_site_api_test.cc | 1 +
 8 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/plugin/usd_decoder/kinematic_tree.cc b/plugin/usd_decoder/kinematic_tree.cc
index dfed9c4b..e82e2774 100644
--- a/plugin/usd_decoder/kinematic_tree.cc
+++ b/plugin/usd_decoder/kinematic_tree.cc
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "kinematic_tree.h"
+#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
 
 #include <map>
 #include <memory>
@@ -25,9 +26,9 @@
 #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/tendon.h>
 #include <mujoco/mujoco.h>
-#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
 #include <pxr/usd/sdf/path.h>
 #include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/primFlags.h>
 #include <pxr/usd/usd/primRange.h>
 #include <pxr/usd/usdGeom/gprim.h>
 #include <pxr/usd/usdGeom/xformCache.h>
diff --git a/plugin/usd_decoder/material_parsing.cc b/plugin/usd_decoder/material_parsing.cc
index ee378b5f..9c8a5089 100644
--- a/plugin/usd_decoder/material_parsing.cc
+++ b/plugin/usd_decoder/material_parsing.cc
@@ -14,7 +14,6 @@
 
 #include "material_parsing.h"
 
-#include <cstdio>
 #include <filesystem>
 #include <optional>
 #include <string>
@@ -29,7 +28,6 @@
 #include <pxr/usd/usdShade/input.h>
 #include <pxr/usd/usdShade/material.h>
 #include <pxr/usd/usdShade/shader.h>
-#include <pxr/usd/usdShade/types.h>
 #include <pxr/usd/usdShade/udimUtils.h>
 #include <pxr/usd/usdShade/utils.h>
 
diff --git a/plugin/usd_decoder/material_parsing.h b/plugin/usd_decoder/material_parsing.h
index 77a24321..16eaf1c4 100644
--- a/plugin/usd_decoder/material_parsing.h
+++ b/plugin/usd_decoder/material_parsing.h
@@ -15,8 +15,8 @@
 #ifndef MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_
 #define MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_
 
-#include <pxr/usd/usdShade/material.h>
 #include <mujoco/mujoco.h>
+#include <pxr/usd/usdShade/material.h>
 
 mjsMaterial* ParseMaterial(mjSpec* spec, const pxr::UsdShadeMaterial &material);
 
diff --git a/plugin/usd_decoder/usd_decoder.cc b/plugin/usd_decoder/usd_decoder.cc
index 8e665453..a7d5a018 100644
--- a/plugin/usd_decoder/usd_decoder.cc
+++ b/plugin/usd_decoder/usd_decoder.cc
@@ -41,6 +41,7 @@
 #include <mujoco/mujoco.h>
 #include "kinematic_tree.h"
 #include "material_parsing.h"
+#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
 #include <pxr/base/gf/declare.h>
 #include <pxr/base/gf/matrix4d.h>
 #include <pxr/base/gf/matrix4f.h>
@@ -54,7 +55,6 @@
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/prim.h>
 #include <pxr/usd/usd/primFlags.h>
-#include <pxr/usd/usd/primRange.h>
 #include <pxr/usd/usd/stage.h>
 #include <pxr/usd/usdGeom/capsule.h>
 #include <pxr/usd/usdGeom/cube.h>
@@ -80,9 +80,7 @@
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
 #include <pxr/usd/usdPhysics/scene.h>
 #include <pxr/usd/usdPhysics/sphericalJoint.h>
-#include <pxr/usd/usdPhysics/tokens.h>
 #include <pxr/usd/usdShade/material.h>
-#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
 #include <pxr/usd/usdShade/materialBindingAPI.h>
 
 using pxr::MjcPhysicsTokens;
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 9a9c1bf6..5e0350fc 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -50,7 +50,6 @@
 #include <pxr/base/vt/types.h>
 #include <pxr/base/vt/value.h>
 #include <pxr/usd/kind/registry.h>
-#include <pxr/usd/sdf/abstractData.h>
 #include <pxr/usd/sdf/assetPath.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/path.h>
diff --git a/src/experimental/usd/utils.cc b/src/experimental/usd/utils.cc
index f25d900a..01f0183d 100644
--- a/src/experimental/usd/utils.cc
+++ b/src/experimental/usd/utils.cc
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// clang-format off
 #include <cstddef>
 #include <string>
 
@@ -21,8 +22,10 @@
 #include <dlfcn.h>
 #endif
 #include <pxr/base/plug/registry.h>
+// clang-format on
 
 #include <mujoco/experimental/usd/utils.h>
+
 #include <mujoco/mujoco.h>
 #include <pxr/usd/sdf/path.h>
 
diff --git a/src/experimental/usd/writer.cc b/src/experimental/usd/writer.cc
index 52a9122c..cd85d306 100644
--- a/src/experimental/usd/writer.cc
+++ b/src/experimental/usd/writer.cc
@@ -18,8 +18,8 @@
 #include <vector>
 
 #include <mujoco/experimental/usd/utils.h>
-#include "experimental/usd/plugins/mjcf/mujoco_to_usd.h"
 #include <mujoco/mujoco.h>
+#include "experimental/usd/plugins/mjcf/mujoco_to_usd.h"
 #include <pxr/usd/sdf/path.h>
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/stage.h>
diff --git a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
index 3eaa3b36..c333e6b6 100644
--- a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
+++ b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <array>
+
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>