Create mjpDecoder, mj_parse, and mju_decodeResource
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec. - The returned spec is then composed into the referencing spec. - This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code. Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders. The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML. In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and not assume we are striclty dealing with MJCF. PiperOrigin-RevId: 826149497 Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
f2badc05ac
commit
57f7145806
@@ -39,6 +39,8 @@ ClangJsonNode = Mapping[str, Any]
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_ANONYMOUS_KEY_PATTERN = re.compile(r'\d+:\d+(?=\))')
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_EXCLUDED = (
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'mjpDecoder',
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'mjpDecoder_',
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'mjpPlugin',
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'mjpPlugin_',
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'mjpResourceProvider',
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@@ -553,6 +553,105 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjNTIMER', 15),
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]),
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)),
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('mjtGeomInertia',
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EnumDecl(
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name='mjtGeomInertia',
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declname='enum mjtGeomInertia_',
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values=dict([
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('mjINERTIA_VOLUME', 0),
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('mjINERTIA_SHELL', 1),
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]),
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)),
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('mjtMeshInertia',
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EnumDecl(
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name='mjtMeshInertia',
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declname='enum mjtMeshInertia_',
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values=dict([
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('mjMESH_INERTIA_CONVEX', 0),
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('mjMESH_INERTIA_EXACT', 1),
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('mjMESH_INERTIA_LEGACY', 2),
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('mjMESH_INERTIA_SHELL', 3),
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]),
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)),
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('mjtMeshBuiltin',
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EnumDecl(
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name='mjtMeshBuiltin',
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declname='enum mjtMeshBuiltin_',
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values=dict([
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('mjMESH_BUILTIN_NONE', 0),
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('mjMESH_BUILTIN_SPHERE', 1),
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('mjMESH_BUILTIN_HEMISPHERE', 2),
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('mjMESH_BUILTIN_CONE', 3),
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('mjMESH_BUILTIN_SUPERSPHERE', 4),
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('mjMESH_BUILTIN_SUPERTORUS', 5),
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('mjMESH_BUILTIN_WEDGE', 6),
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('mjMESH_BUILTIN_PLATE', 7),
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]),
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)),
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('mjtBuiltin',
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EnumDecl(
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name='mjtBuiltin',
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declname='enum mjtBuiltin_',
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values=dict([
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('mjBUILTIN_NONE', 0),
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('mjBUILTIN_GRADIENT', 1),
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('mjBUILTIN_CHECKER', 2),
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('mjBUILTIN_FLAT', 3),
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]),
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)),
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('mjtMark',
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EnumDecl(
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name='mjtMark',
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declname='enum mjtMark_',
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values=dict([
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('mjMARK_NONE', 0),
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('mjMARK_EDGE', 1),
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('mjMARK_CROSS', 2),
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('mjMARK_RANDOM', 3),
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]),
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)),
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('mjtLimited',
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EnumDecl(
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name='mjtLimited',
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declname='enum mjtLimited_',
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values=dict([
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('mjLIMITED_FALSE', 0),
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('mjLIMITED_TRUE', 1),
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('mjLIMITED_AUTO', 2),
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]),
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)),
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('mjtAlignFree',
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EnumDecl(
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name='mjtAlignFree',
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declname='enum mjtAlignFree_',
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values=dict([
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('mjALIGNFREE_FALSE', 0),
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('mjALIGNFREE_TRUE', 1),
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('mjALIGNFREE_AUTO', 2),
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]),
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)),
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('mjtInertiaFromGeom',
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EnumDecl(
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name='mjtInertiaFromGeom',
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declname='enum mjtInertiaFromGeom_',
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values=dict([
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('mjINERTIAFROMGEOM_FALSE', 0),
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('mjINERTIAFROMGEOM_TRUE', 1),
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('mjINERTIAFROMGEOM_AUTO', 2),
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]),
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)),
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('mjtOrientation',
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EnumDecl(
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name='mjtOrientation',
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declname='enum mjtOrientation_',
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values=dict([
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('mjORIENTATION_QUAT', 0),
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('mjORIENTATION_AXISANGLE', 1),
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('mjORIENTATION_XYAXES', 2),
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('mjORIENTATION_ZAXIS', 3),
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('mjORIENTATION_EULER', 4),
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]),
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)),
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('mjtCatBit',
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EnumDecl(
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name='mjtCatBit',
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@@ -774,105 +873,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjFONT_BIG', 2),
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]),
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)),
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('mjtGeomInertia',
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EnumDecl(
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name='mjtGeomInertia',
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declname='enum mjtGeomInertia_',
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values=dict([
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('mjINERTIA_VOLUME', 0),
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('mjINERTIA_SHELL', 1),
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]),
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)),
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('mjtMeshInertia',
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EnumDecl(
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name='mjtMeshInertia',
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declname='enum mjtMeshInertia_',
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values=dict([
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('mjMESH_INERTIA_CONVEX', 0),
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('mjMESH_INERTIA_EXACT', 1),
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('mjMESH_INERTIA_LEGACY', 2),
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('mjMESH_INERTIA_SHELL', 3),
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]),
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)),
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('mjtMeshBuiltin',
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EnumDecl(
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name='mjtMeshBuiltin',
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declname='enum mjtMeshBuiltin_',
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values=dict([
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('mjMESH_BUILTIN_NONE', 0),
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('mjMESH_BUILTIN_SPHERE', 1),
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('mjMESH_BUILTIN_HEMISPHERE', 2),
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('mjMESH_BUILTIN_CONE', 3),
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('mjMESH_BUILTIN_SUPERSPHERE', 4),
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('mjMESH_BUILTIN_SUPERTORUS', 5),
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('mjMESH_BUILTIN_WEDGE', 6),
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('mjMESH_BUILTIN_PLATE', 7),
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]),
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)),
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('mjtBuiltin',
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EnumDecl(
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name='mjtBuiltin',
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declname='enum mjtBuiltin_',
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values=dict([
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('mjBUILTIN_NONE', 0),
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('mjBUILTIN_GRADIENT', 1),
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('mjBUILTIN_CHECKER', 2),
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('mjBUILTIN_FLAT', 3),
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]),
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)),
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('mjtMark',
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EnumDecl(
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name='mjtMark',
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declname='enum mjtMark_',
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values=dict([
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('mjMARK_NONE', 0),
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('mjMARK_EDGE', 1),
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('mjMARK_CROSS', 2),
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('mjMARK_RANDOM', 3),
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]),
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)),
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('mjtLimited',
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EnumDecl(
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name='mjtLimited',
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declname='enum mjtLimited_',
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values=dict([
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('mjLIMITED_FALSE', 0),
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('mjLIMITED_TRUE', 1),
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('mjLIMITED_AUTO', 2),
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]),
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)),
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('mjtAlignFree',
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EnumDecl(
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name='mjtAlignFree',
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declname='enum mjtAlignFree_',
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values=dict([
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('mjALIGNFREE_FALSE', 0),
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('mjALIGNFREE_TRUE', 1),
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('mjALIGNFREE_AUTO', 2),
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]),
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)),
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('mjtInertiaFromGeom',
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EnumDecl(
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name='mjtInertiaFromGeom',
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declname='enum mjtInertiaFromGeom_',
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values=dict([
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('mjINERTIAFROMGEOM_FALSE', 0),
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('mjINERTIAFROMGEOM_TRUE', 1),
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('mjINERTIAFROMGEOM_AUTO', 2),
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]),
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)),
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('mjtOrientation',
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EnumDecl(
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name='mjtOrientation',
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declname='enum mjtOrientation_',
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values=dict([
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('mjORIENTATION_QUAT', 0),
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('mjORIENTATION_AXISANGLE', 1),
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('mjORIENTATION_XYAXES', 2),
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('mjORIENTATION_ZAXIS', 3),
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('mjORIENTATION_EULER', 4),
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]),
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)),
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('mjtButton',
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EnumDecl(
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name='mjtButton',
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@@ -301,6 +301,46 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc='Parse spec from XML string.',
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)),
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('mj_parse',
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FunctionDecl(
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name='mj_parse',
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return_type=PointerType(
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inner_type=ValueType(name='mjSpec'),
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),
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parameters=(
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FunctionParameterDecl(
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name='filename',
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type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='content_type',
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type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='vfs',
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type=PointerType(
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inner_type=ValueType(name='mjVFS', is_const=True),
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),
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nullable=True,
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),
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FunctionParameterDecl(
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name='error',
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type=PointerType(
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inner_type=ValueType(name='char'),
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),
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nullable=True,
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),
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FunctionParameterDecl(
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name='error_sz',
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type=ValueType(name='int'),
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),
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),
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doc='Parse spec from a file.',
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)),
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('mj_compile',
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FunctionDecl(
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name='mj_compile',
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@@ -9096,6 +9136,56 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc='Look up a resource provider by slot number returned by mjp_registerResourceProvider. If invalid slot number, return NULL.', # pylint: disable=line-too-long
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)),
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('mjp_registerDecoder',
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FunctionDecl(
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name='mjp_registerDecoder',
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return_type=ValueType(name='void'),
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parameters=(
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FunctionParameterDecl(
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name='decoder',
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type=PointerType(
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inner_type=ValueType(name='mjpDecoder', is_const=True),
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),
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),
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),
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doc='Globally register a decoder. This function is thread-safe. If an identical mjpDecoder is already registered, this function does nothing. If a non-identical mjpDecoder with the same name is already registered, an mju_error is raised.', # pylint: disable=line-too-long
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)),
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('mjp_defaultDecoder',
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FunctionDecl(
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name='mjp_defaultDecoder',
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return_type=ValueType(name='void'),
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parameters=(
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FunctionParameterDecl(
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name='decoder',
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type=PointerType(
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inner_type=ValueType(name='mjpDecoder'),
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),
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),
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),
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doc='Set default resource decoder definition.',
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)),
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('mjp_findDecoder',
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FunctionDecl(
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name='mjp_findDecoder',
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return_type=PointerType(
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inner_type=ValueType(name='mjpDecoder', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='resource',
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type=PointerType(
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inner_type=ValueType(name='mjResource', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='content_type',
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type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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),
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),
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doc='Return the resource provider with the prefix that matches against the resource name. If no match, return NULL.', # pylint: disable=line-too-long
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)),
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('mju_threadPoolCreate',
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FunctionDecl(
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name='mju_threadPoolCreate',
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+1445
-1445
File diff suppressed because it is too large
Load Diff
@@ -281,8 +281,8 @@ PYBIND11_MODULE(_specs, m) {
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spec = LoadSpecFileImpl(
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filename, files,
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[&error](const char* filename, const mjVFS* vfs) {
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return InterceptMjErrors(mj_parseXML)(
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filename, vfs, error, sizeof(error));
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return InterceptMjErrors(mj_parse)(
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filename, nullptr, vfs, error, sizeof(error));
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});
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if (!spec) {
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throw py::value_error(error);
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