Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/xml/xml.h

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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_XML_XML_H_
+#define MUJOCO_SRC_XML_XML_H_
+
+#include <string>
+
+#include <mujoco/mjmodel.h>
+#include "user/user_model.h"
+
+// Top level API
+
+// Main writer function
+bool mjWriteXML(mjCModel* model, std::string filename, char* error, int error_sz);
+
+// Main parser function: from file or VFS
+mjCModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
+
+
+#endif  // MUJOCO_SRC_XML_XML_H_