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

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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/structs.py

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