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Create mjpDecoder, mj_parse, and mju_decodeResource

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- 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
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python/mujoco/introspect/functions.py
+90
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@@ -301,6 +301,46 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Parse spec from XML string.',
)),
('mj_parse',
FunctionDecl(
name='mj_parse',
return_type=PointerType(
inner_type=ValueType(name='mjSpec'),
),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='content_type',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
nullable=True,
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Parse spec from a file.',
)),
('mj_compile',
FunctionDecl(
name='mj_compile',
@@ -9096,6 +9136,56 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Look up a resource provider by slot number returned by mjp_registerResourceProvider. If invalid slot number, return NULL.', # pylint: disable=line-too-long
)),
('mjp_registerDecoder',
FunctionDecl(
name='mjp_registerDecoder',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='decoder',
type=PointerType(
inner_type=ValueType(name='mjpDecoder', is_const=True),
),
),
),
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
)),
('mjp_defaultDecoder',
FunctionDecl(
name='mjp_defaultDecoder',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='decoder',
type=PointerType(
inner_type=ValueType(name='mjpDecoder'),
),
),
),
doc='Set default resource decoder definition.',
)),
('mjp_findDecoder',
FunctionDecl(
name='mjp_findDecoder',
return_type=PointerType(
inner_type=ValueType(name='mjpDecoder', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='resource',
type=PointerType(
inner_type=ValueType(name='mjResource', is_const=True),
),
),
FunctionParameterDecl(
name='content_type',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return the resource provider with the prefix that matches against the resource name. If no match, return NULL.', # pylint: disable=line-too-long
)),
('mju_threadPoolCreate',
FunctionDecl(
name='mju_threadPoolCreate',