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Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies.

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PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
This commit is contained in:
Sam Haves
2025-10-02 06:13:59 -07:00
committed by Copybara-Service
parent 7e16ecaa25
commit 6320b95957
15 changed files with 342 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+1
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@@ -3181,6 +3181,7 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
const mjtNum* pnt, const mjtNum* vec, int vertid[1]);
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
void mjv_defaultCamera(mjvCamera* cam);
void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
void mjv_defaultPerturb(mjvPerturb* pert);
include/mujoco/mujoco.h
+4
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@@ -644,6 +644,10 @@ MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtB
MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
//---------------------------------- Dependencies --------------------------------------------------
// Given MJCF filename, fills dependencies with a list of all other files it depends on.
MJAPI void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
//---------------------------------- Interaction ---------------------------------------------------
python/mujoco/bindings_test.py
+11
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@@ -16,6 +16,7 @@
import contextlib
import copy
from etils import epath
import pickle
import sys
@@ -1658,6 +1659,16 @@ Euler integrator, semi-implicit in velocity.
model = mujoco.MjModel.from_xml_string(TEST_XML_TEXTURE)
self.assertEqual(model.tex('tex').data.shape, (512, 512, 3))
def test_xml_dependencies(self):
model_path = str(epath.resource_path("mujoco") / "testdata" / "msh.xml")
msh_path =str(epath.resource_path("mujoco") / "testdata" / "abdomen_1_body.msh")
model_path = model_path.replace('\\', '/')
msh_path = msh_path.replace('\\', '/')
dependencies = mujoco.mju_getXMLDependencies(model_path)
self.assertIn(model_path, dependencies)
self.assertIn(msh_path, dependencies)
def _assert_attributes_equal(self, actual_obj, expected_obj, attr_to_compare):
for name in attr_to_compare:
actual_value = getattr(actual_obj, name)
python/mujoco/functions.cc
+8
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@@ -99,6 +99,14 @@ PYBIND11_MODULE(_functions, pymodule) {
return std::string(buffer.get(), out_length);
});
DEF_WITH_OMITTED_PY_ARGS(traits::mju_getXMLDependencies,
"dependencies")(
pymodule, [](const char* filename){
mjStringVec dependencies;
InterceptMjErrors(::mju_getXMLDependencies)(filename, &dependencies);
return dependencies;
});
// Main simulation
pymodule.def(
"mj_step",
python/mujoco/introspect/functions.py
+20
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@@ -3925,6 +3925,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
)),
('mju_getXMLDependencies',
FunctionDecl(
name='mju_getXMLDependencies',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='dependencies',
type=PointerType(
inner_type=ValueType(name='mjStringVec'),
),
),
),
doc='Given MJCF filename, fills dependencies with a list of all other files it depends on.', # pylint: disable=line-too-long
)),
('mjv_defaultCamera',
FunctionDecl(
name='mjv_defaultCamera',
src/xml/xml_util.cc
+136 -1
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@@ -26,8 +26,10 @@
#include <optional>
#include <set>
#include <sstream>
#include <stack>
#include <string>
#include <type_traits>
#include <unordered_set>
#include <utility>
#include <vector>
@@ -104,8 +106,110 @@ FilePath ResolveFilePath(XMLElement* e, const FilePath& filename,
return FilePath(path) + filename;
}
} // namespace
void AccumulateFiles(std::unordered_set<std::string> &files,
tinyxml2::XMLElement *root, const FilePath &model_dir) {
std::optional<FilePath> asset_dir;
std::optional<FilePath> mesh_dir;
std::optional<FilePath> texture_dir;
std::set<std::string> include_and_model_files;
std::set<std::string> texture_files;
std::set<std::string> mesh_files;
std::set<std::string> hfield_files;
auto accumulate_files = [&](const std::set<std::string> &candidate_files,
std::optional<FilePath> prefix) {
for (const auto &file : candidate_files) {
FilePath file_with_prefix = !prefix.has_value() ? FilePath(file) : prefix.value() + FilePath(file);
if (file_with_prefix.IsAbs()) {
files.insert(file_with_prefix.Str());
} else {
// Else insert dir_path / prefix / file.
auto full_path = model_dir + file_with_prefix;
files.insert(full_path.Str());
}
}
};
std::stack<tinyxml2::XMLElement *> elements;
elements.push(root);
while (!elements.empty()) {
tinyxml2::XMLElement *elem = elements.top();
elements.pop();
if (!std::strcmp(elem->Value(), "include") ||
!std::strcmp(elem->Value(), "model")) {
auto file_attr = mjXUtil::ReadAttrFile(elem, "file", nullptr);
if (file_attr.has_value()) {
include_and_model_files.insert(file_attr->Str());
// Neither of these elements should have children.
continue;
}
} else if (!std::strcmp(elem->Value(), "compiler")) {
auto assetdir_str = mjXUtil::ReadAttrStr(elem, "assetdir", false);
if (assetdir_str.has_value()) asset_dir = FilePath(assetdir_str.value());
auto meshdir_str = mjXUtil::ReadAttrStr(elem, "meshdir", false);
if (meshdir_str.has_value()) mesh_dir = FilePath(meshdir_str.value());
auto texturedir_str = mjXUtil::ReadAttrStr(elem, "texturedir", false);
if (texturedir_str.has_value()) texture_dir = FilePath(texturedir_str.value());
// compiler elements don't have children.
continue;
} else if (!std::strcmp(elem->Value(), "mesh") ||
!std::strcmp(elem->Value(), "flexcomp") ||
!std::strcmp(elem->Value(), "skin")) {
// mesh elements don't have children.
auto file_attr = mjXUtil::ReadAttrFile(elem, "file", nullptr);
if (file_attr.has_value()) {
mesh_files.insert(file_attr->Str());
}
continue;
} else if (!std::strcmp(elem->Value(), "hfield")) {
// hfield elements don't have children.
auto file_attr = mjXUtil::ReadAttrFile(elem, "file", nullptr);
if (file_attr.has_value()) {
hfield_files.insert(file_attr->Str());
}
continue;
} else if (!std::strcmp(elem->Value(), "texture")) {
static const char *attributes[] = {"file", "fileright", "fileup",
"fileleft", "filedown", "filefront",
"fileback"};
for (const auto &attribute : attributes) {
auto file_attr = mjXUtil::ReadAttrFile(elem, attribute, nullptr);
if (file_attr.has_value()) {
texture_files.insert(file_attr->Str());
}
}
}
tinyxml2::XMLElement *child = elem->FirstChildElement();
while (child) {
elements.push(child);
child = child->NextSiblingElement();
}
}
// TODO(shaves): When we have resource decoders implemented they should have a
// "get dependencies" function to call here. For non XML types we assume they
// have no dependencies here.
// First resolve all dependent XML files.
for (const auto &file : include_and_model_files) {
mjStringVec subdeps;
FilePath full_path = model_dir + FilePath(file);
mju_getXMLDependencies(full_path.Str().c_str(), &subdeps);
for (const auto &subdep : subdeps) {
files.insert(subdep);
}
}
// Then for each non MJCF resource file, add them to the set of files using their respective
// compiler prefixes (if they exist).
accumulate_files(texture_files,
texture_dir.has_value() ? texture_dir : asset_dir);
accumulate_files(mesh_files, mesh_dir.has_value() ? mesh_dir : asset_dir);
accumulate_files(hfield_files, asset_dir);
}
}
//---------------------------------- utility functions ---------------------------------------------
@@ -117,7 +221,38 @@ void mjCopyError(char* dst, const char* src, int maxlen) {
}
}
void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies) {
// load XML file or parse string
tinyxml2::XMLDocument doc;
doc.LoadFile(filename);
// error checking
if (doc.Error()) {
mju_error("Problem reading XML file '%s': %s", filename, doc.ErrorStr());
}
// get top-level element
tinyxml2::XMLElement *root = doc.RootElement();
if (!root) {
mju_error("XML root element not found");
}
std::unordered_set<std::string> files = {filename};
std::optional<FilePath> model_dir = std::nullopt;
mjResource *resource = mju_openResource("", filename, nullptr,
nullptr, 0);
if (resource != nullptr) {
const char* dir;
int ndir;
mju_getResourceDir(resource, &dir, &ndir);
model_dir = FilePath(std::string(dir, ndir));
mju_closeResource(resource);
}
// Get file references from include and model tags.
AccumulateFiles(files, root, model_dir.value());
*dependencies = {files.begin(), files.end()};
}
// error constructor
mjXError::mjXError(const XMLElement* elem, const char* msg, const char* str, int pos) {
test/xml/CMakeLists.txt
+2
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@@ -16,6 +16,8 @@ mujoco_test(xml_api_test)
mujoco_test(xml_native_reader_test)
mujoco_test(xml_utils_test)
mujoco_test(
xml_native_writer_test
ADDITIONAL_LINK_LIBRARIES
test/xml/testdata/many_dependencies.xml
Vendored
+21
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@@ -0,0 +1,21 @@
<mujoco>
<include file="child.xml"/>
<compiler meshdir="meshes"/>
<asset>
<model name="other" file="parent_model.xml"/>
<mesh name="mesh1" file="mesh1.obj"/>
</asset>
<worldbody>
<body name="my_parent">
<geom name="my_geom" size="2"/>
<flexcomp type="mesh" file="flex.obj" name="flex" rigid="true"/>
</body>
<body name="box">
<geom type="box" mesh="mesh1"/>
</body>
</worldbody>
<deformable>
<skin name="skin" file="cube.skn"/>
</deformable>
</mujoco>
test/xml/testdata/meshes/cube.skn
Vendored
BIN
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Binary file not shown.
test/xml/testdata/meshes/flex.obj
Vendored
+39
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@@ -0,0 +1,39 @@
# Simple Cube - OBJ File
# Vertices (v)
# 8 corners of the cube
# Back Face
v -1.0 -1.0 -1.0
v 1.0 -1.0 -1.0
v 1.0 1.0 -1.0
v -1.0 1.0 -1.0
# Front Face
v -1.0 -1.0 1.0
v 1.0 -1.0 1.0
v 1.0 1.0 1.0
v -1.0 1.0 1.0
# Faces (f)
# A cube has 6 faces. Each face is a quad, defined by 4 vertices.
# The vertices are numbered according to their order of appearance above, starting from 1.
# The order defines the face normal (front-facing) based on the right-hand rule.
# Back Face (v1, v2, v3, v4)
f 1 2 3 4
# Right Face (v2, v6, v7, v3)
f 2 6 7 3
# Front Face (v5, v8, v7, v6) - Note the ordering for correct normal
f 5 8 7 6
# Left Face (v1, v4, v8, v5)
f 1 4 8 5
# Top Face (v4, v3, v7, v8)
f 4 3 7 8
# Bottom Face (v1, v5, v6, v2)
f 1 5 6 2
test/xml/testdata/meshes/mesh1.obj
Vendored
+39
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@@ -0,0 +1,39 @@
# Simple Cube - OBJ File
# Vertices (v)
# 8 corners of the cube
# Back Face
v -1.0 -1.0 -1.0
v 1.0 -1.0 -1.0
v 1.0 1.0 -1.0
v -1.0 1.0 -1.0
# Front Face
v -1.0 -1.0 1.0
v 1.0 -1.0 1.0
v 1.0 1.0 1.0
v -1.0 1.0 1.0
# Faces (f)
# A cube has 6 faces. Each face is a quad, defined by 4 vertices.
# The vertices are numbered according to their order of appearance above, starting from 1.
# The order defines the face normal (front-facing) based on the right-hand rule.
# Back Face (v1, v2, v3, v4)
f 1 2 3 4
# Right Face (v2, v6, v7, v3)
f 2 6 7 3
# Front Face (v5, v8, v7, v6) - Note the ordering for correct normal
f 5 8 7 6
# Left Face (v1, v4, v8, v5)
f 1 4 8 5
# Top Face (v4, v3, v7, v8)
f 4 3 7 8
# Bottom Face (v1, v5, v6, v2)
f 1 5 6 2
test/xml/testdata/parent_model.xml
Vendored
+11
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@@ -0,0 +1,11 @@
<mujoco>
<asset>
<model name="other" file="child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom name="geom" size="2"/>
<attach model="other" body="body" prefix="other"/>
</body>
</worldbody>
</mujoco>
test/xml/xml_native_writer_test.cc
+1
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@@ -1388,6 +1388,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
// exclude files that fail the comparison test
absl::StrContains(p.path().string(), "tactile") ||
absl::StrContains(p.path().string(), "makemesh") ||
absl::StrContains(p.path().string(), "many_dependencies") ||
absl::StrContains(p.path().string(), "usd") ||
absl::StrContains(p.path().string(), "torus_maxhull") ||
absl::StrContains(p.path().string(), "fitmesh_") ||
test/xml/xml_utils_test.cc
+46
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@@ -0,0 +1,46 @@
// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <set>
#include <string>
#include <vector>
#include <gtest/gtest.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
TEST_F(MujocoTest, GetXMLDependenciesTest) {
static const std::vector<std::string> kModelPaths = {
GetTestDataFilePath("xml/testdata/many_dependencies.xml"),
GetTestDataFilePath("xml/testdata/parent_model.xml"),
GetTestDataFilePath("xml/testdata/child.xml"),
GetTestDataFilePath("xml/testdata/meshes/mesh1.obj"),
GetTestDataFilePath("xml/testdata/meshes/flex.obj"),
GetTestDataFilePath("xml/testdata/meshes/cube.skn"),
};
mjStringVec dependencies;
mju_getXMLDependencies(kModelPaths[0].c_str(), &dependencies);
std::set<std::string> dependency_set{dependencies.begin(),
dependencies.end()};
std::set<std::string> expected_dependency_set{kModelPaths.begin(),
kModelPaths.end()};
EXPECT_EQ(dependency_set, expected_dependency_set);
}
} // namespace
} // namespace mujoco
unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -6757,6 +6757,9 @@ public static unsafe extern double mju_rayFlex(mjModel_* m, mjData_* d, int flex
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_raySkin(int nface, int nvert, int* face, float* vert, double* pnt, double* vec, int* vertid);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_getXMLDependencies([MarshalAs(UnmanagedType.LPStr)]string filename, void* dependencies);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_defaultCamera(mjvCamera_* cam);