chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Expose mju resource functions to public header.

Browse Source 
Many of these functions are useful when writing a custom decoder.

PiperOrigin-RevId: 868321921
Change-Id: I7e0dd285e0559b6f486acf8cbf4376ff8d91943d
This commit is contained in:
Sam Haves
2026-02-10 14:30:38 -08:00
committed by Copybara-Service
parent 210cf86486
commit 6715a0ceaa
7 changed files with 275 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/functions.py
+154
View File
@@ -9600,6 +9600,160 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
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_openResource',
FunctionDecl(
name='mju_openResource',
return_type=PointerType(
inner_type=ValueType(name='mjResource'),
),
parameters=(
FunctionParameterDecl(
name='dir',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='name',
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='nerror',
type=ValueType(name='size_t'),
),
),
doc="Open a resource; if the name doesn't have a prefix matching a registered resource provider, then the OS filesystem is used.", # pylint: disable=line-too-long
)),
('mju_closeResource',
FunctionDecl(
name='mju_closeResource',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='resource',
type=PointerType(
inner_type=ValueType(name='mjResource'),
),
),
),
doc='Close a resource; no-op if resource is NULL.',
)),
('mju_readResource',
FunctionDecl(
name='mju_readResource',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='resource',
type=PointerType(
inner_type=ValueType(name='mjResource'),
),
),
FunctionParameterDecl(
name='buffer',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='void', is_const=True),
),
),
),
),
doc='Set buffer to bytes read from the resource and return number of bytes in buffer; return negative value if error.', # pylint: disable=line-too-long
)),
('mju_getResourceDir',
FunctionDecl(
name='mju_getResourceDir',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='resource',
type=PointerType(
inner_type=ValueType(name='mjResource'),
),
),
FunctionParameterDecl(
name='dir',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
FunctionParameterDecl(
name='ndir',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
doc='For a resource with a name partitioned as {dir}{filename}, get the dir and ndir pointers.', # pylint: disable=line-too-long
)),
('mju_isModifiedResource',
FunctionDecl(
name='mju_isModifiedResource',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='resource',
type=PointerType(
inner_type=ValueType(name='mjResource', is_const=True),
),
),
FunctionParameterDecl(
name='timestamp',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Compare resource timestamp to provided timestamp. Return 0 if timestamps match, >0 if resource is newer, <0 if resource is older.', # pylint: disable=line-too-long
)),
('mju_decodeResource',
FunctionDecl(
name='mju_decodeResource',
return_type=PointerType(
inner_type=ValueType(name='mjSpec'),
),
parameters=(
FunctionParameterDecl(
name='resource',
type=PointerType(
inner_type=ValueType(name='mjResource'),
),
),
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,
),
),
doc='Find the decoder for a resource and return the decoded spec. The caller takes ownership of the spec and is responsible for cleaning it up.', # pylint: disable=line-too-long
)),
('mju_threadPoolCreate',
FunctionDecl(
name='mju_threadPoolCreate',