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

PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0

python/mujoco/bindings_test.py

@@ -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

@@ -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

@@ -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',