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Add <stem>/model.xml search path to mjz_decoder.

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PiperOrigin-RevId: 952128127
Change-Id: I8a514297d84026a6028b2416e43df9b5a2a92bbb
This commit is contained in:
Sam Haves
2026-07-22 08:11:09 -07:00
committed by Copybara-Service
parent b6ab11dc6b
commit 1a5af23558
2 changed files with 7 additions and 5 deletions
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doc/changelog.rst
+2 -2
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@@ -152,8 +152,8 @@ Compiler
- Fixed loading of :ref:`.mjz <MJZArchives>` archives in :ref:`simulate<saSimulate>`: the archive was unmounted - Fixed loading of :ref:`.mjz <MJZArchives>` archives in :ref:`simulate<saSimulate>`: the archive was unmounted
before model compilation, so assets failed to load. Failures in the :ref:`mjz <MJZArchives>` decoder now emit a before model compilation, so assets failed to load. Failures in the :ref:`mjz <MJZArchives>` decoder now emit a
warning with the underlying error instead of the generic "could not decode content" message. warning with the underlying error instead of the generic "could not decode content" message.
- The :ref:`mjz <MJZArchives>` decoder now searches for ``model.xml`` at the root of the archive as a fallback if the - The :ref:`mjz <MJZArchives>` decoder now searches for ``model.xml`` and ``<stem>/model.xml`` as a fallback if
archive-named XML is not found. ``<stem>.xml`` and ``<stem>/<stem>.xml`` are not found.
- Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in - Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in
:ref:`mjpResourceProvider`. :ref:`mjpResourceProvider`.
src/xml/mjz/mjz_decoder.cc
+5 -3
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@@ -89,15 +89,17 @@ class ZipArchiveProvider : public mjpResourceProvider {
// Look for the root XML model in the archive. We try the following // Look for the root XML model in the archive. We try the following
// locations: // locations:
// 1. [archive_name].xml at the root of the archive. // 1. [archive_name].xml
// 2. [archive_name]/[archive_name].xml inside a subdirectory. // 2. [archive_name]/[archive_name].xml
// 3. model.xml at the root of the archive (common zipped MJCF pattern). // 3. model.xml
// 4. [archive_name]/model.xml
const std::filesystem::path path(name_); const std::filesystem::path path(name_);
const std::string stem = path.stem().string(); const std::string stem = path.stem().string();
std::vector<std::string> candidates = { std::vector<std::string> candidates = {
(path / stem).generic_string() + ".xml", (path / stem).generic_string() + ".xml",
(path / stem / stem).generic_string() + ".xml", (path / stem / stem).generic_string() + ".xml",
(path / "model").generic_string() + ".xml", (path / "model").generic_string() + ".xml",
(path / stem / "model").generic_string() + ".xml",
}; };
bool found = false; bool found = false;