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add content_type to model in the XML schema.

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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
This commit is contained in:
Alessio Quaglino
2024-09-04 07:24:48 -07:00
committed by Copybara-Service
parent 9a27fc14c2
commit 0e8c0b80eb
5 changed files with 31 additions and 7 deletions
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src/xml/xml_native_reader.cc
+14 -3
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@@ -258,7 +258,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"rgba", "?", "1", "texture"},
{"orm", "?", "1", "texture"},
{">"},
{"model", "*", "2", "name", "file"},
{"model", "*", "3", "name", "file", "content_type"},
{">"},
{"body", "R", "11", "name", "childclass", "pos", "quat", "mocap",
@@ -3306,11 +3306,22 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
// model sub-element
else if (name=="model") {
auto filename = modelfiledir_ + ReadAttrFile(elem, "file", vfs).value();
string content_type;
if (!ReadAttrTxt(elem, "content_type", content_type)) {
content_type = "text/xml";
}
// parse the child
mjSpec* child = nullptr;
std::array<char, 1024> error;
mjSpec* child = mj_parseXML(filename.c_str(), vfs, error.data(), error.size());
auto filename = modelfiledir_ + ReadAttrFile(elem, "file", vfs).value();
if (content_type == "text/xml") {
child = mj_parseXML(filename.c_str(), vfs, error.data(), error.size());
} else {
throw mjXError(elem, "unsupported content_type: %s", content_type.c_str());
}
if (!child) {
throw mjXError(elem, "could not parse model file with error: %s", error.data());
}