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

PiperOrigin-RevId: 814203235 Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
2025-10-02 06:13:59 -07:00
parent 7e16ecaa25
commit 6320b95957
15 changed files with 342 additions and 1 deletions
@@ -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",