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

2025-10-30 12:53:40 -07:00

committed by

Copybara-Service

parent f2badc05ac

commit 57f7145806

16 changed files with 2063 additions and 1555 deletions

									
										python/mujoco/introspect/codegen/generate_structs.py
									
		+2
		
												View File
												
				@@ -39,6 +39,8 @@ ClangJsonNode = Mapping[str, Any]

				_ANONYMOUS_KEY_PATTERN = re.compile(r'\d+:\d+(?=\))')

				_EXCLUDED = (

				    'mjpDecoder',

				    'mjpDecoder_',

				    'mjpPlugin',

				    'mjpPlugin_',

				    'mjpResourceProvider',