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#usd Update third_party/mujoco and third_party/py/mujoco to USD v26

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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
This commit is contained in:
Google DeepMind
2026-08-12 00:26:17 -07:00
committed by Copybara-Service
parent dbc10c743b
commit fb03be0e4f
8 changed files with 9 additions and 9 deletions
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plugin/usd_decoder/kinematic_tree.cc
+2 -1
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@@ -13,6 +13,7 @@
// limitations under the License. // limitations under the License.
#include "kinematic_tree.h" #include "kinematic_tree.h"
#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
#include <map> #include <map>
#include <memory> #include <memory>
@@ -25,9 +26,9 @@
#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h> #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/tendon.h> #include <mujoco/experimental/usd/mjcPhysics/tendon.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
#include <pxr/usd/sdf/path.h> #include <pxr/usd/sdf/path.h>
#include <pxr/usd/usd/common.h> #include <pxr/usd/usd/common.h>
#include <pxr/usd/usd/primFlags.h>
#include <pxr/usd/usd/primRange.h> #include <pxr/usd/usd/primRange.h>
#include <pxr/usd/usdGeom/gprim.h> #include <pxr/usd/usdGeom/gprim.h>
#include <pxr/usd/usdGeom/xformCache.h> #include <pxr/usd/usdGeom/xformCache.h>
plugin/usd_decoder/material_parsing.cc
-2
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@@ -14,7 +14,6 @@
#include "material_parsing.h" #include "material_parsing.h"
#include <cstdio>
#include <filesystem> #include <filesystem>
#include <optional> #include <optional>
#include <string> #include <string>
@@ -29,7 +28,6 @@
#include <pxr/usd/usdShade/input.h> #include <pxr/usd/usdShade/input.h>
#include <pxr/usd/usdShade/material.h> #include <pxr/usd/usdShade/material.h>
#include <pxr/usd/usdShade/shader.h> #include <pxr/usd/usdShade/shader.h>
#include <pxr/usd/usdShade/types.h>
#include <pxr/usd/usdShade/udimUtils.h> #include <pxr/usd/usdShade/udimUtils.h>
#include <pxr/usd/usdShade/utils.h> #include <pxr/usd/usdShade/utils.h>
plugin/usd_decoder/material_parsing.h
+1 -1
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@@ -15,8 +15,8 @@
#ifndef MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_ #ifndef MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_
#define 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 <mujoco/mujoco.h>
#include <pxr/usd/usdShade/material.h>
mjsMaterial* ParseMaterial(mjSpec* spec, const pxr::UsdShadeMaterial &material); mjsMaterial* ParseMaterial(mjSpec* spec, const pxr::UsdShadeMaterial &material);
plugin/usd_decoder/usd_decoder.cc
+1 -3
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@@ -41,6 +41,7 @@
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "kinematic_tree.h" #include "kinematic_tree.h"
#include "material_parsing.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/declare.h>
#include <pxr/base/gf/matrix4d.h> #include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/matrix4f.h> #include <pxr/base/gf/matrix4f.h>
@@ -54,7 +55,6 @@
#include <pxr/usd/usd/common.h> #include <pxr/usd/usd/common.h>
#include <pxr/usd/usd/prim.h> #include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/primFlags.h> #include <pxr/usd/usd/primFlags.h>
#include <pxr/usd/usd/primRange.h>
#include <pxr/usd/usd/stage.h> #include <pxr/usd/usd/stage.h>
#include <pxr/usd/usdGeom/capsule.h> #include <pxr/usd/usdGeom/capsule.h>
#include <pxr/usd/usdGeom/cube.h> #include <pxr/usd/usdGeom/cube.h>
@@ -80,9 +80,7 @@
#include <pxr/usd/usdPhysics/rigidBodyAPI.h> #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
#include <pxr/usd/usdPhysics/scene.h> #include <pxr/usd/usdPhysics/scene.h>
#include <pxr/usd/usdPhysics/sphericalJoint.h> #include <pxr/usd/usdPhysics/sphericalJoint.h>
#include <pxr/usd/usdPhysics/tokens.h>
#include <pxr/usd/usdShade/material.h> #include <pxr/usd/usdShade/material.h>
#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
#include <pxr/usd/usdShade/materialBindingAPI.h> #include <pxr/usd/usdShade/materialBindingAPI.h>
using pxr::MjcPhysicsTokens; using pxr::MjcPhysicsTokens;
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
-1
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@@ -50,7 +50,6 @@
#include <pxr/base/vt/types.h> #include <pxr/base/vt/types.h>
#include <pxr/base/vt/value.h> #include <pxr/base/vt/value.h>
#include <pxr/usd/kind/registry.h> #include <pxr/usd/kind/registry.h>
#include <pxr/usd/sdf/abstractData.h>
#include <pxr/usd/sdf/assetPath.h> #include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/declareHandles.h> #include <pxr/usd/sdf/declareHandles.h>
#include <pxr/usd/sdf/path.h> #include <pxr/usd/sdf/path.h>
src/experimental/usd/utils.cc
+3
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@@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
// clang-format off
#include <cstddef> #include <cstddef>
#include <string> #include <string>
@@ -21,8 +22,10 @@
#include <dlfcn.h> #include <dlfcn.h>
#endif #endif
#include <pxr/base/plug/registry.h> #include <pxr/base/plug/registry.h>
// clang-format on
#include <mujoco/experimental/usd/utils.h> #include <mujoco/experimental/usd/utils.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include <pxr/usd/sdf/path.h> #include <pxr/usd/sdf/path.h>
src/experimental/usd/writer.cc
+1 -1
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@@ -18,8 +18,8 @@
#include <vector> #include <vector>
#include <mujoco/experimental/usd/utils.h> #include <mujoco/experimental/usd/utils.h>
#include "experimental/usd/plugins/mjcf/mujoco_to_usd.h"
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "experimental/usd/plugins/mjcf/mujoco_to_usd.h"
#include <pxr/usd/sdf/path.h> #include <pxr/usd/sdf/path.h>
#include <pxr/usd/usd/common.h> #include <pxr/usd/usd/common.h>
#include <pxr/usd/usd/stage.h> #include <pxr/usd/usd/stage.h>
test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
+1
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@@ -13,6 +13,7 @@
// limitations under the License. // limitations under the License.
#include <array> #include <array>
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h> #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>