Add various improvements for resource providers.

PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477

doc/APIreference/APItypes.rst

@@ -671,6 +671,17 @@ information is then filled-in by the simulator.
 .. mujoco-include:: mjContact
 
 
+.. _mjResource:
+
+mjResource
+~~~~~~~~~~
+
+A resource is an abstraction of a file in a filesystem. The name field is the unique name of the resource while the
+other fields are populated by a :ref:`resource provider <exProvider>`.
+
+.. mujoco-include:: mjResource
+
+
 .. _mjVFS:
 
 mjVFS
@@ -960,7 +971,15 @@ triggered by the compiler and the engine during various phases of the computatio
 
 .. mujoco-include:: mjpPlugin
 
+.. _mjpResourceProvider:
 
+mjpResourceProvider
+~~~~~~~~~~~~~~~~~~~
+
+This data structure contains the definition of a :ref:`resource provider <exProvider>`. It contains a set of callbacks
+used for opening and reading resources.
+
+.. mujoco-include:: mjpResourceProvider
 
 .. _tyFunction:
 
@@ -1074,6 +1093,57 @@ mjfItemEnable
 This is the function type of the predicate function used by the UI framework to determine if each item is enabled or
 disabled.
 
+.. _tyRPCallbacks:
+
+Resource Provider Callbacks
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+These callbacks are used by :ref:`resource providers<exProvider>`.
+
+.. _mjfOpenResource:
+
+mjfOpenResource
+~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   typedef int (*mjfOpenResource)(mjResource* resource);
+
+This callback is for opeing a resource; returns zero on failure.
+
+.. _mjfReadResource:
+
+mjfReadResource
+~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
+
+This callback is for reading a resource. Returns number of bytes stored in buffer and returns -1 on error.
+
+.. _mjfCloseResource:
+
+mjfCloseResource
+~~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   typedef void (*mjfCloseResource)(mjResource* resource);
+
+This callback is for closing a resource, and is responsible for freeing any allocated memory.
+
+.. _mjfGetResourceDir:
+
+mjfGetResourceDir
+~~~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   typedef void (*mjfGetResourceDir)(mjResource* resource, const char** dir, int* ndir);
+
+This callback is for returning the directory of a resource, by setting dir to the directory string with ndir being size
+of directory string.
 
 .. _tyNotes:
 

doc/changelog.rst

@@ -26,6 +26,7 @@ General
 - Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
   This is significantly faster than calling :ref:`mj_ray` multiple times.
 - Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
+- Added :ref:`documentation<exProvider>` for resource providers.
 
 Version 2.3.5 (April 25, 2023)
 ------------------------------
@@ -66,7 +67,7 @@ General
 #. Added midphase and broadphase collision statistics to :ref:`mjData`.
 #. Added documentation for :ref:`engine plugins<exPlugin>`.
 #. Added struct information to the ``introspect`` module.
-#. Added a new extension mechanism called "resource provider" . This extensible mechanism allows MuJoCo
+#. Added a new extension mechanism called :ref:`resource providers<exProvider>`. This extensible mechanism allows MuJoCo
    to read assets from data sources other than the local OS filesystem or
    the :ref:`Virtual file system<Virtualfilesystem>`.
 

doc/includes/references.h

@@ -624,6 +624,9 @@ struct mjResource_ {
 
   // closing callback from resource provider
   void (*close)(struct mjResource_* resource);
+
+  // getdir callback from resource provider
+  void (*getdir)(struct mjResource_* resource, const char** dir, int* ndir);
 };
 typedef struct mjResource_ mjResource;
 struct mjOption_ {                // physics options
@@ -1198,11 +1201,12 @@ struct mjModel_ {
 };
 typedef struct mjModel_ mjModel;
 struct mjpResourceProvider_ {
-  const char* prefix;             // prefix for match against a resource name
+  const char* prefix;                // prefix for match against a resource name
-  mjfOpenResource open;           // opening callback
+  mjfOpenResource open;              // opening callback
-  mjfReadResource read;           // reading callback
+  mjfReadResource read;              // reading callback
-  mjfCloseResource close;         // closing callback
+  mjfCloseResource close;            // closing callback
-  void* data;                     // opaque data pointer (resource invariant)
+  mjfGetResourceDir getdir;          // getdir callback (optional)
+  void* data;                        // opaque data pointer (resource invariant)
 };
 typedef struct mjpResourceProvider_ mjpResourceProvider;
 typedef enum mjtPluginCapabilityBit_ {

doc/programming/extension.rst

@@ -3,8 +3,8 @@
 Extensions
 ----------
 
-This section describes MuJoCo's mechanisms for user-authored extensions. At present, extensibility is provided only
+This section describes MuJoCo's mechanisms for user-authored extensions. At present, extensibility is provided by
-via **engine plugins**.
+via :ref:`engine plugins<exPlugin>` and :ref:`resource providers<exProvider>`.
 
 .. _exPlugin:
 
@@ -246,3 +246,130 @@ A future version of this section will include:
 * How to declare custom MJCF attributes for a plugin.
 * Things that developers need to keep in mind in order to ensure that plugins function correctly when :ref:`mjData` is
   copied, stepped, or reset.
+
+.. _exProvider:
+
+Resource providers
+~~~~~~~~~~~~~~~~~~
+
+Resource providers extend MuJoCo to load assets (XML files, meshes, textures, and etc.) that don't necessarily come from
+the OS filesystem or the Virtual File System (:ref:`mjVFS`). For example, downloading assets from the Internet could be
+implemented as a resource provider. These extensions are handle abstractly in MuJoCo via the :ref:`mjResource` struct.
+
+.. _exProviderStructure:
+
+Overview
+^^^^^^^^
+
+Creating a new resource provider works by registering a :ref:`mjpResourceProvider` struct via
+:ref:`mjp_registerResourceProvider` in a global table. Once a resource provider is registered it can be used by all
+loading functions. The :ref:`mjpResourceProvider` struct stores three types of fields:
+
+.. _Uniform Resource Identifier: https://en.wikipedia.org/wiki/Uniform_Resource_Identifier
+
+Resource prefix
+
+  Resources are identified by prefixes in their name. The chosen prefix should have a valid `Uniform Resource
+  Identifier`_ (URI) scheme syntax. Resource names should also have a valid URI syntax, however this isn't enforced. A
+  resource name with the syntax ``{prefix}:{filename}`` will match a provider using the scheme ``prefix``.  For
+  instance, a resource provider accessing assets via the Internet might use ``http`` as its scheme. In this case a
+  resource with the name ``http://www.example.com/myasset.obj`` would match against this resource provider. Schemes are
+  case-insensitive so that ``HTTP://www.example.com/myasset.obj`` will also match. Note the importance of the colon.
+  URI syntax requires that a colon follows the prefix in a resource name in order to match against a scheme. For example
+  ``https://www.example.com/myasset.obj`` would NOT be a match since the scheme is designated as ``https``.
+
+Callbacks
+  There are three callbacks that a resource provider is required to implement: :ref:`open<mjfOpenResource>`,
+  :ref:`read<mjfReadResource>`, and :ref:`close<mjfCloseResource>`. A fourth callback :ref:`getdir<mjfGetResourceDir>`
+  which is optional.  More details on these callbacks are given below.
+
+Data Pointer
+  Lastly, there's an opaque data pointer for the provider to pass data into the callbacks. This data pointer is constant
+  within a given model.
+
+Resource providers work via callbacks:
+
+- :ref:`mjfOpenResource<mjfOpenResource>`: The open callback takes a single parameter of type :ref:`mjResource`.  The
+  name field of the resource should be used to verify that the resource exists and populate the resource data field with
+  any extra information needed for the resource. On failure this callback should return 0 (false) or else 1 (true).
+- :ref:`mjfReadResource<mjfReadResource>`: The read callback takes as arguments a :ref:`mjResource` and a pointer to a
+  void pointer called the ``buffer``. The read callback should point the ``buffer`` pointer to the location of where the
+  bytes of the resource can be read and return the number of bytes pointed to in the ``buffer``.  On failure, this
+  callback should return -1.
+- :ref:`mjfCloseResource<mjfCloseResource>`: This callback takes a single parameter of type :ref:`mjResource`, and
+  should be used to free any memory allocated in the data field in the supplied resource.
+- :ref:`mjfGetResourceDir<mjfGetResourceDir>`: This callback is optional and is used to extract the directory from a
+  resource name.  For example, the resource name ``http://www.example.com/myasset.obj`` would have
+  ``http://www.example.com/`` as its directory.
+.. _exProviderUsage:
+
+Usage
+^^^^^
+
+When a resource provider is registered, it can be used immediately to open assets. If the asset filename has a prefix
+that matches with the prefix of a registered provider, then that provider will be used to load the asset.
+
+.. _exProviderExample:
+
+Example
+"""""""
+
+.. _data URI scheme: https://en.wikipedia.org/wiki/Data_URI_scheme
+
+This section provides a basic example of a resource provider that reads from a `data URI scheme`_. First we implement
+the callbacks:
+
+.. code-block:: C
+
+   int data_open_callback(mjResource* resource) {
+     // call some util function to validate
+     if (!is_valid_data_uri(resource->name)) {
+       return 0; // return failure
+     }
+
+     // some upper bound for the data
+     resource->data = mju_malloc(get_data_uri_size(resource->name));
+     if (resource->data == NULL) {
+       return 0; // return failure
+     }
+
+     // fill data from string (some util function)
+     get_data_uri(resource->name, &data);
+   }
+
+   int str_read_callback(mjResource* resource, const void** buffer) {
+     *buffer = resource->data;
+     return get_data_uri_size(resource->name);
+   }
+
+   void str_close_callback(mjResource* resource) {
+     mju_free(resource->data);
+   }
+
+Next we create the resource provider and register it with MuJoCo:
+
+.. code-block:: C
+
+   mjpResourceProvider resourceProvider = {
+     .prefix = "data",
+     .open = str_open_callback,
+     .read = str_read_callback,
+     .close = str_close_callback,
+     .getdir = NULL
+   };
+
+   // return positive number on success
+   if (!mjp_registerResourceProvider(&resourceProvider)) {
+     // ...
+     // return failure
+   }
+
+Now we can write assets as strings in our MJCF files:
+
+.. code-block:: xml
+
+   <asset>
+     <texture name="grid" file="grid.png" type="2d"/>
+     <mesh file="data:model/obj;base65,I215IG9iamVjdA0KdiAxIDAgMA0KdiAwIDEgMA0KdiAwIDAgMQ=="/>
+     ...
+   </asset>

include/mujoco/mjmodel.h

@@ -390,6 +390,9 @@ struct mjResource_ {
 
   // closing callback from resource provider
   void (*close)(struct mjResource_* resource);
+
+  // getdir callback from resource provider
+  void (*getdir)(struct mjResource_* resource, const char** dir, int* ndir);
 };
 typedef struct mjResource_ mjResource;
 

include/mujoco/mjplugin.h

@@ -22,7 +22,7 @@
 
 //---------------------------------- Resource Provider ---------------------------------------------
 
-#define mjVFS_PREFIX    "vfs://"  // prefix for VFS providers
+#define mjVFS_PREFIX    "vfs"  // prefix for VFS providers
 
 // callback for opeing a resource, returns zero on failure
 typedef int (*mjfOpenResource)(mjResource* resource);
@@ -34,13 +34,18 @@ typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
 // callback for closing a resource (responsible for freeing any allocated memory)
 typedef void (*mjfCloseResource)(mjResource* resource);
 
+// callback for returning the directory of a resource
+// sets dir to directory string with ndir being size of directory string
+typedef void (*mjfGetResourceDir)(mjResource* resource, const char** dir, int* ndir);
+
 // struct describing a single resource provider
 struct mjpResourceProvider_ {
-  const char* prefix;             // prefix for match against a resource name
+  const char* prefix;                // prefix for match against a resource name
-  mjfOpenResource open;           // opening callback
+  mjfOpenResource open;              // opening callback
-  mjfReadResource read;           // reading callback
+  mjfReadResource read;              // reading callback
-  mjfCloseResource close;         // closing callback
+  mjfCloseResource close;            // closing callback
-  void* data;                     // opaque data pointer (resource invariant)
+  mjfGetResourceDir getdir;          // getdir callback (optional)
+  void* data;                        // opaque data pointer (resource invariant)
 };
 typedef struct mjpResourceProvider_ mjpResourceProvider;
 

src/engine/engine_io.c

@@ -621,7 +621,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
 
 
 // load model from binary MJB resource
-static mjModel* _mj_loadModel(const char* filename, int default_provider) {
+static mjModel* _mj_loadModel(const char* filename, int vfs_provider) {
   int header[4] = {0};
   int expected_header[4] = {ID, sizeof(mjtNum), getnint(), getnptr()};
   int info[2000];
@@ -629,7 +629,7 @@ static mjModel* _mj_loadModel(const char* filename, int default_provider) {
   mjModel *m = 0;
   mjResource* r = NULL;
 
-  if((r = mju_openResource(filename, default_provider)) == NULL) {
+  if((r = mju_openResource(filename, vfs_provider)) == NULL) {
     return NULL;
   }
 

src/engine/engine_plugin.cc

@@ -21,6 +21,7 @@
 #include "engine/engine_plugin.h"
 
 #include <atomic>
+#include <cctype>
 #include <cstddef>
 #include <cstdlib>
 #include <cstring>
@@ -266,14 +267,53 @@ bool PluginsAreIdentical(const mjpPlugin& plugin1, const mjpPlugin& plugin2) {
   return !std::memcmp(ptr1, ptr2, remaining_size);
 }
 
+// does case insensitive comparison
+bool PrefixesAreIdentical(const char* p1, const char* p2) {
+  int i = 0;
+  for (; p1[i] != '\0'; i++) {
+    if (std::tolower(p1[i]) != std::tolower(p2[i])) {
+      return false;
+    }
+  }
+
+  return p2[i] == '\0';
+}
+
 // check if two resource providers are identical
 bool ResourceProvidersAreIdentical(const mjpResourceProvider* p1, const mjpResourceProvider* p2) {
-  return (!std::strcmp(p1->prefix, p2->prefix) &&
+  return (PrefixesAreIdentical(p1->prefix, p2->prefix) &&
           p1->open == p2->open &&
           p1->read == p2->read &&
           p1->close == p2->close &&
           p1->data == p2->data);
 }
+
+// check if prefix is a valid URI scheme format
+bool IsValidURISchemeFormat(const char* prefix) {
+  int len;
+
+  // prefix is NULL or empty
+  if (prefix == nullptr || !(len = std::strlen(prefix))) {
+    return false;
+  }
+
+  // first character must be a letter
+  if (!std::isalpha(prefix[0])) {
+    return false;
+  }
+
+  for (int i = 1; i < len; i++) {
+    // each following character must be a letter, digit, '+', '.', or '-'
+    if (!std::isalnum(prefix[i]) &&
+        (prefix[i] != '+') &&
+        (prefix[i] != '.') &&
+        (prefix[i] != '-')) {
+      return false;
+    }
+  }
+  return true;
+}
+
 }  // namespace
 
 // globally register a plugin (thread-safe), return new slot id
@@ -508,12 +548,7 @@ void mjp_defaultResourceProvider(mjpResourceProvider* provider) {
 // globally register a resource provider (thread-safe), return new slot id
 int mjp_registerResourceProvider(const mjpResourceProvider* provider) {
   // check against reserved prefixes
-  int n = std::strlen(provider->prefix),
+  if (PrefixesAreIdentical(kVfsPrefix, provider->prefix)) {
-      m = std::strlen(kVfsPrefix);
-
-  // one of the prefixes is a subprefix of the other
-  if (!std::strncmp(kVfsPrefix, provider->prefix, n) ||
-      !std::strncmp(kVfsPrefix, provider->prefix, m)) {
     mju_warning("provider->prefix is '%s' which is reserved", provider->prefix);
     return -1;
   }
@@ -523,8 +558,10 @@ int mjp_registerResourceProvider(const mjpResourceProvider* provider) {
 
 // internal version of mjp_registerResourceProvider without prechecks on reserved prefixes
 int mjp_registerResourceProviderInternal(const mjpResourceProvider* provider) {
-  if (!provider->prefix || provider->prefix[0] == '\0') {
+    // check if prefix is valid URI scheme format
-    mju_warning("provider->prefix is an empty string");
+  if (!IsValidURISchemeFormat(provider->prefix)) {
+    mju_warning("provider->prefix is '%s' which is not a valid URI scheme format",
+                provider->prefix);
     return -1;
   }
 
@@ -544,7 +581,7 @@ int mjp_registerResourceProviderInternal(const mjpResourceProvider* provider) {
     std::unique_ptr<char[]> prefix;
 
     // check if this is a VFS provider
-    if (!std::strcmp(mjVFS_PREFIX, provider->prefix)) {
+    if (PrefixesAreIdentical(mjVFS_PREFIX, provider->prefix)) {
       vfs_provider = true;
     }
 
@@ -589,13 +626,8 @@ int mjp_registerResourceProviderInternal(const mjpResourceProvider* provider) {
       }
 
       if (!vfs_provider && existing.prefix != nullptr) {
-        int n = std::strlen(provider->prefix);
+        // if identical then return slot number
-        int m = std::strlen(existing.prefix);
+        if (PrefixesAreIdentical(provider->prefix, existing.prefix)) {
-
-        // one of the prefixes is a subprefix of the other
-        if (!std::strncmp(existing.prefix, provider->prefix, n) ||
-            !std::strncmp(existing.prefix, provider->prefix, m)) {
-          // if identical then return slot number
           if (ResourceProvidersAreIdentical(provider, &existing)) {
             return i;
           } else {
@@ -691,20 +723,34 @@ int mjp_resourceProviderCount() {
   return GetGlobal<mjpResourceProvider>().count().load(std::memory_order_acquire);
 }
 
-// look up a resource provider that matches its prefix against the given resource name
+// look up a resource provider that matches its prefix against the given resource scheme
 const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name) {
   const int count = mjp_resourceProviderCount();
   if (!resource_name || !resource_name[0]) {
     return nullptr;
   }
 
+  const char* ch = std::strchr(resource_name, ':');
+  if (ch == nullptr) {
+    return nullptr;
+  }
+
+  int n = ch - resource_name;
+  std::string file_prefix = std::string(resource_name, n);
+
+  // return NULL if file_prefix doesn't have a valid URI scheme syntax
+  if (!IsValidURISchemeFormat(file_prefix.c_str())) {
+    return nullptr;
+  }
+
   // since multiple VFS resource providers can be registered with the same
   // prefix, it doesn't make sense to try to match against them
-  if (!std::strncmp(kVfsPrefix, resource_name, std::strlen(kVfsPrefix))) {
+  if (PrefixesAreIdentical(kVfsPrefix, file_prefix.c_str())) {
     return nullptr;
   }
 
   Global<mjpResourceProvider>& global = GetGlobal<mjpResourceProvider>();
+  auto lock = global.lock_mutex_exclusively();
   PluginTable<mjpResourceProvider>* table = &global.table();
   int found_slot = 0;
 
@@ -717,7 +763,7 @@ const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name) {
       const char *prefix = provider.prefix;
 
       if (prefix != nullptr &&
-          !std::strncmp(prefix, resource_name, std::strlen(prefix))) {
+          PrefixesAreIdentical(prefix, file_prefix.c_str())) {
         return &provider;
       }
     }

src/engine/engine_resource.c

@@ -30,6 +30,21 @@ typedef struct {
   int nbuffer;
 } file_buffer;
 
+// helper function to fill data from resource provider into provider
+static void fillResource(const mjpResourceProvider* provider, mjResource* resource) {
+  if (provider == NULL) {
+    resource->read = NULL;
+    resource->close = NULL;
+    resource->getdir = NULL;
+    resource->provider_data = NULL;
+  } else {
+    resource->read = provider->read;
+    resource->close = provider->close;
+    resource->getdir = provider->getdir;
+    resource->provider_data = provider->data;
+  }
+}
+
 
 // open the given resource; if the name doesn't have a prefix matching with a
 // resource provider, then the default_provider is used
@@ -54,9 +69,7 @@ mjResource* mju_openResource(const char* name, int default_provider) {
   // find provider based off prefix of name
   provider = mjp_getResourceProvider(name);
   if (provider != NULL) {
-    resource->read = provider->read;
+    fillResource(provider, resource);
-    resource->close = provider->close;
-    resource->provider_data = provider->data;
     if (provider->open(resource)) {
       return resource;
     }
@@ -79,9 +92,8 @@ mjResource* mju_openResource(const char* name, int default_provider) {
       mju_free(resource);
       return NULL;
     }
-    resource->read = provider->read;
+
-    resource->close = provider->close;
+    fillResource(provider, resource);
-    resource->provider_data = provider->data;
     if (provider->open(resource)) {
       return resource;
     }
@@ -96,9 +108,7 @@ mjResource* mju_openResource(const char* name, int default_provider) {
 
   // lastly fallback to OS filesystem
   else {
-    resource->read = NULL;
+    fillResource(NULL, resource);
-    resource->close = NULL;
-    resource->provider_data = NULL;
     resource->data = mju_malloc(sizeof(file_buffer));
     file_buffer* fb = (file_buffer*) resource->data;
     fb->buffer = mju_fileToMemory(name, &(fb->nbuffer));
@@ -152,7 +162,7 @@ int mju_readResource(mjResource* resource, const void** buffer) {
   }
 
 
-  // if provider is NULL, then OS filesystem is used
+  // if provider read callback is NULL, then OS filesystem is used
   const file_buffer* fb = (file_buffer*) resource->data;
   *buffer = fb->buffer;
   return fb->nbuffer;
@@ -160,6 +170,41 @@ int mju_readResource(mjResource* resource, const void** buffer) {
 
 
 
+// get directory path of resource
+void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
+  *dir = NULL;
+  *ndir = 0;
+
+  if (resource == NULL) {
+    return;
+  }
+
+  // provider is not OS filesystem
+  if (resource->read) {
+    if (resource->getdir) {
+      resource->getdir(resource, dir, ndir);
+    }
+  } else {
+    mju_getfiledir(resource->name, dir, ndir);
+  }
+}
+
+
+
+// get directory path of file in OS filesystem
+void mju_getfiledir(const char* filename, const char** dir, int* ndir) {
+  *dir = NULL;
+  *ndir = 0;
+  char* ch;
+
+  if ((filename != NULL) &&
+      ((ch = strrchr(filename, '/')) ||
+       (ch = strrchr(filename, '\\')))) {
+    *dir = filename;
+    *ndir = (int)(ch - filename) + 1;
+  }
+}
+
 // read file into memory buffer (allocated here with mju_malloc)
 void* mju_fileToMemory(const char* filename, int* filesize) {
   // open file

src/engine/engine_resource.h

@@ -34,6 +34,12 @@ MJAPI void mju_closeResource(mjResource* resource);
 // return negative value if error
 MJAPI int mju_readResource(mjResource* resource, const void** buffer);
 
+// sets for a resource with a name partitioned as {dir}{filename}, the dir and ndir pointers
+MJAPI void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
+
+// get directory of a file in the OS filesystem
+void mju_getfiledir(const char* filename, const char** dir, int* ndir);
+
 // read file into memory buffer (allocated here with mju_malloc)
 void* mju_fileToMemory(const char* filename, int* filesize);
 

src/engine/engine_vfs.c

@@ -251,6 +251,18 @@ static void vfs_close_callback(mjResource* resource) {
 
 
 
+// getdir callback for the VFS resource provider
+static void vfs_getdir_callback(mjResource* resource, const char** dir, int* ndir) {
+  *dir = NULL;
+  *ndir = 0;
+
+  if (resource) {
+    mju_getfiledir(resource->name, dir, ndir);
+  }
+}
+
+
+
 // registers a VFS resource provider; returns the index of the provider
 int mj_registerVfsProvider(const mjVFS* vfs) {
   mjpResourceProvider provider = {
@@ -258,6 +270,7 @@ int mj_registerVfsProvider(const mjVFS* vfs) {
     .open = &vfs_open_callback,
     .read = &vfs_read_callback,
     .close = &vfs_close_callback,
+    .getdir = &vfs_getdir_callback,
     .data = (void*) vfs
   };
 

src/user/user_mesh.cc

@@ -176,7 +176,7 @@ template <typename T> static T* VecToArray(std::vector<T>& vector,  bool clear =
 
 
 // compiler
-void mjCMesh::Compile(int default_provider) {
+void mjCMesh::Compile(int vfs_provider) {
   // load file
   if (!file.empty()) {
     // remove path from file if necessary
@@ -193,7 +193,7 @@ void mjCMesh::Compile(int default_provider) {
     }
 
     string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
-    mjResource* resource = LoadResource(filename, default_provider);
+    mjResource* resource = LoadResource(filename, vfs_provider);
 
     try {
       if (!strcasecmp(ext.c_str(), ".stl")) {
@@ -1535,7 +1535,7 @@ mjCSkin::~mjCSkin() {
 
 
 // compiler
-void mjCSkin::Compile(int default_provider) {
+void mjCSkin::Compile(int vfs_provider) {
 
   // load file
   if (!file.empty()) {
@@ -1564,7 +1564,7 @@ void mjCSkin::Compile(int default_provider) {
     }
 
     string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
-    mjResource* resource = LoadResource(filename, default_provider);
+    mjResource* resource = LoadResource(filename, vfs_provider);
 
     try {
       LoadSKN(resource);

src/user/user_model.cc

@@ -2393,7 +2393,7 @@ static void warninghandler(const char* msg) {
 
 
 // compiler
-mjModel* mjCModel::Compile(int default_provider) {
+mjModel* mjCModel::Compile(int vfs_provider) {
   // The volatile keyword is necessary to prevent a possible memory leak due to
   // an interaction between longjmp and compiler optimization. Specifically, at
   // the point where the setjmp takes places, these pointers have never been
@@ -2424,7 +2424,7 @@ mjModel* mjCModel::Compile(int default_provider) {
       // TryCompile resulted in an mju_error which was converted to a longjmp.
       throw mjCError(0, "engine error: %s", errortext);
     }
-    TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), default_provider);
+    TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), vfs_provider);
   } catch (mjCError err) {
     // deallocate everything allocated in Compile
     mj_deleteModel(m);
@@ -2450,7 +2450,7 @@ mjModel* mjCModel::Compile(int default_provider) {
 }
 
 
-void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
+void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
   // check if nan test works
   double test = mjNAN;
   if (mjuu_defined(test)) {
@@ -2527,7 +2527,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
 
   // compile meshes (needed for geom compilation)
   for (int i=0; i<meshes.size(); i++) {
-    meshes[i]->Compile(default_provider);
+    meshes[i]->Compile(vfs_provider);
   }
 
   // automatically set nuser fields
@@ -2586,9 +2586,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
   }
 
   // compile all other objects except for keyframes
-  for (int i=0; i<skins.size(); i++) skins[i]->Compile(default_provider);
+  for (int i=0; i<skins.size(); i++) skins[i]->Compile(vfs_provider);
-  for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(default_provider);
+  for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(vfs_provider);
-  for (int i=0; i<textures.size(); i++) textures[i]->Compile(default_provider);
+  for (int i=0; i<textures.size(); i++) textures[i]->Compile(vfs_provider);
   for (int i=0; i<materials.size(); i++) materials[i]->Compile();
   for (int i=0; i<pairs.size(); i++) pairs[i]->Compile();
   for (int i=0; i<excludes.size(); i++) excludes[i]->Compile();

src/user/user_model.h

@@ -65,7 +65,7 @@ class mjCModel {
   mjCModel();                                          // constructor
   ~mjCModel();                                         // destructor
 
-  mjModel*    Compile(int default_provider = 0);       // COMPILER: construct mjModel
+  mjModel*    Compile(int vfs_provider = 0);           // COMPILER: construct mjModel
   bool        CopyBack(const mjModel*);                // DECOMPILER: copy numeric back
   void        FuseStatic(void);                        // fuse static bodies with parent
   void        FuseReindex(mjCBody* body);              // reindex elements during fuse
@@ -163,8 +163,8 @@ class mjCModel {
   int nuser_sensor;               // number of mjtNums in sensor_user
 
  private:
-  void TryCompile(mjModel*& m, mjData*& d, int default_provider);
+  void TryCompile(mjModel*& m, mjData*& d, int vfs_provider);
-  mjModel* _Compile(int default_provider);
+  mjModel* _Compile(int vfs_provider);
 
   void Clear(void);               // clear objects allocated by Compile
 

src/user/user_objects.cc

@@ -2114,7 +2114,7 @@ void mjCHField::LoadPNG(mjResource* resource) {
 
 
 // compiler
-void mjCHField::Compile(int default_provider) {
+void mjCHField::Compile(int vfs_provider) {
   // check size parameters
   for (int i=0; i<4; i++)
     if (size[i]<=0)
@@ -2136,7 +2136,7 @@ void mjCHField::Compile(int default_provider) {
 
     // make filename
     string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
-    mjResource* resource = LoadResource(filename, default_provider);
+    mjResource* resource = LoadResource(filename, vfs_provider);
 
     // load depending on format
     string ext = mjuu_getext(filename);
@@ -2530,12 +2530,12 @@ void mjCTexture::LoadCustom(mjResource* resource,
 
 
 // load from PNG or custom file, flip if specified
-void mjCTexture::LoadFlip(string filename, int default_provider,
+void mjCTexture::LoadFlip(string filename, int vfs_provider,
                           std::vector<unsigned char>& image,
                           unsigned int& w, unsigned int& h) {
   // dispatch to PNG or Custom loaded
   string ext = mjuu_getext(filename);
-  mjResource* resource = LoadResource(filename, default_provider);
+  mjResource* resource = LoadResource(filename, vfs_provider);
 
   try {
     if (!strcasecmp(ext.c_str(), ".png")) {
@@ -2597,11 +2597,11 @@ void mjCTexture::LoadFlip(string filename, int default_provider,
 
 
 // load 2D
-void mjCTexture::Load2D(string filename, int default_provider) {
+void mjCTexture::Load2D(string filename, int vfs_provider) {
   // load PNG or custom
   unsigned int w, h;
   std::vector<unsigned char> image;
-  LoadFlip(filename, default_provider, image, w, h);
+  LoadFlip(filename, vfs_provider, image, w, h);
 
   // assign size
   width = w;
@@ -2620,7 +2620,7 @@ void mjCTexture::Load2D(string filename, int default_provider) {
 
 
 // load cube or skybox from single file (repeated or grid)
-void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
+void mjCTexture::LoadCubeSingle(string filename, int vfs_provider) {
   // check gridsize
   if (gridsize[0]<1 || gridsize[1]<1 || gridsize[0]*gridsize[1]>12) {
     throw mjCError(this,
@@ -2631,7 +2631,7 @@ void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
   // load PNG or custom
   unsigned int w, h;
   std::vector<unsigned char> image;
-  LoadFlip(filename, default_provider, image, w, h);
+  LoadFlip(filename, vfs_provider, image, w, h);
 
   // check gridsize for compatibility
   if (w/gridsize[1]!=h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
@@ -2720,7 +2720,7 @@ void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
 
 
 // load cube or skybox from separate file
-void mjCTexture::LoadCubeSeparate(int default_provider) {
+void mjCTexture::LoadCubeSeparate(int vfs_provider) {
   // keep track of which faces were defined
   int loaded[6] = {0, 0, 0, 0, 0, 0};
 
@@ -2738,7 +2738,7 @@ void mjCTexture::LoadCubeSeparate(int default_provider) {
       // load PNG or custom
       unsigned int w, h;
       std::vector<unsigned char> image;
-      LoadFlip(filename, default_provider, image, w, h);
+      LoadFlip(filename, vfs_provider, image, w, h);
 
       // PNG must be square
       if (w!=h) {
@@ -2792,7 +2792,7 @@ void mjCTexture::LoadCubeSeparate(int default_provider) {
 
 
 // compiler
-void mjCTexture::Compile(int default_provider) {
+void mjCTexture::Compile(int vfs_provider) {
   // builtin
   if (builtin!=mjBUILTIN_NONE) {
     // check size
@@ -2835,9 +2835,9 @@ void mjCTexture::Compile(int default_provider) {
 
     // dispatch
     if (type==mjTEXTURE_2D) {
-      Load2D(filename, default_provider);
+      Load2D(filename, vfs_provider);
     } else {
-      LoadCubeSingle(filename, default_provider);
+      LoadCubeSingle(filename, vfs_provider);
     }
   }
 
@@ -2865,7 +2865,7 @@ void mjCTexture::Compile(int default_provider) {
     }
 
     // only cube and skybox
-    LoadCubeSeparate(default_provider);
+    LoadCubeSeparate(vfs_provider);
   }
 
   // make sure someone allocated data; SHOULD NOT OCCUR

src/user/user_objects.h

@@ -543,7 +543,7 @@ class mjCMesh: public mjCBase {
  private:
   mjCMesh(mjCModel* = 0, mjCDef* = 0);        // constructor
   ~mjCMesh();                                 // destructor
-  void Compile(int default_provider);         // compiler
+  void Compile(int vfs_provider);             // compiler
   void LoadOBJ(mjResource* resource);         // load mesh in wavefront OBJ format
   void LoadSTL(mjResource* resource);         // load mesh in STL BIN format
   void LoadMSH(mjResource* resource);         // load mesh in MSH BIN format
@@ -625,7 +625,7 @@ class mjCSkin: public mjCBase {
  private:
   mjCSkin(mjCModel* = 0);                     // constructor
   ~mjCSkin();                                 // destructor
-  void Compile(int default_provider);         // compiler
+  void Compile(int vfs_provider);             // compiler
   void LoadSKN(mjResource* resource);         // load skin in SKN BIN format
 
   int matid;                          // material id
@@ -651,7 +651,7 @@ class mjCHField : public mjCBase {
  private:
   mjCHField(mjCModel* model);             // constructor
   ~mjCHField();                           // destructor
-  void Compile(int default_provider);     // compiler
+  void Compile(int vfs_provider);         // compiler
 
   void LoadCustom(mjResource* resource);  // load from custom format
   void LoadPNG(mjResource* resource);     // load from PNG format
@@ -695,15 +695,15 @@ class mjCTexture : public mjCBase {
  private:
   mjCTexture(mjCModel*);                  // constructor
   ~mjCTexture();                          // destructior
-  void Compile(int default_provider);     // compiler
+  void Compile(int vfs_provider);         // compiler
 
   void Builtin2D(void);                   // make builtin 2D
   void BuiltinCube(void);                 // make builtin cube
-  void Load2D(std::string filename, int default_provider);         // load 2D from file
+  void Load2D(std::string filename, int vfs_provider);         // load 2D from file
-  void LoadCubeSingle(std::string filename, int default_provider); // load cube from single file
+  void LoadCubeSingle(std::string filename, int vfs_provider); // load cube from single file
-  void LoadCubeSeparate(int default_provider);                     // load cube from separate files
+  void LoadCubeSeparate(int vfs_provider);                     // load cube from separate files
 
-  void LoadFlip(std::string filename, int default_provider,   // load and flip
+  void LoadFlip(std::string filename, int vfs_provider,        // load and flip
                 std::vector<unsigned char>& image,
                 unsigned int& w, unsigned int& h);
 

src/user/user_util.cc

@@ -22,6 +22,7 @@
 #include <string_view>
 
 #include <mujoco/mjtnum.h>
+#include <mujoco/mujoco.h>
 #include "engine/engine_macro.h"
 #include "engine/engine_util_spatial.h"
 
@@ -558,6 +559,12 @@ bool mjuu_isabspath(string path) {
     return false;
   }
 
+  // path is scheme:filename which we consider an absolute path
+  // e.g. file URI's are always absolute paths
+  if (mjp_getResourceProvider(path.c_str()) != nullptr) {
+    return true;
+  }
+
   // check first char
   const char* str = path.c_str();
   if (str[0]=='\\' || str[0]=='/') {
@@ -573,25 +580,6 @@ bool mjuu_isabspath(string path) {
 }
 
 
-// get directory path of file
-string mjuu_getfiledir(string filename) {
-  // no filename
-  if (filename.empty()) {
-    return "";
-  }
-
-  // find last pathsymbol
-  size_t last = filename.find_last_of("/\\");
-
-  // no pathsymbol: unknown dir
-  if (last==string::npos) {
-    return "";
-  }
-
-  // extract path from filename
-  return filename.substr(0, last+1);
-}
-
 
 // assemble full filename
 string mjuu_makefullname(string filedir, string meshdir, string filename) {

src/user/user_util.h

@@ -149,9 +149,6 @@ std::string mjuu_getext(std::string_view filename);
 // check if path is absolute
 bool mjuu_isabspath(std::string path);
 
-// get path from filename
-std::string mjuu_getfiledir(std::string filename);
-
 // assemble full filename
 std::string mjuu_makefullname(std::string filedir, std::string meshdir, std::string filename);
 

src/xml/xml.cc

@@ -129,7 +129,7 @@ bool mjWriteXML(mjCModel* model, string filename, char* error, int error_sz) {
 
 // find include elements recursively, replace them with subtree from xml file
 static XMLElement* mjIncludeXML(XMLElement* elem, string dir,
-                                int default_provider, vector<string>& included) {
+                                int vfs_provider, vector<string>& included) {
   // include element: process
   if (!strcasecmp(elem->Value(), "include")) {
     // make sure include has no children
@@ -152,9 +152,9 @@ static XMLElement* mjIncludeXML(XMLElement* elem, string dir,
     // get data source
     mjResource *resource = nullptr;
     const char* xmlstring = nullptr;
-    if ((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
+    if ((resource = mju_openResource(filename.c_str(), vfs_provider)) == nullptr) {
       // load from OS filesystem
-      if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
+      if (!vfs_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
         throw mjXError(elem, "Could not open file '%s'", filename.c_str());
       }
     }
@@ -215,14 +215,14 @@ static XMLElement* mjIncludeXML(XMLElement* elem, string dir,
     }
 
     // run XMLInclude on first new child
-    return mjIncludeXML(first->ToElement(), dir, default_provider, included);
+    return mjIncludeXML(first->ToElement(), dir, vfs_provider, included);
   }
 
   // otherwise check all child elements, return self
   else {
     XMLElement* child = elem->FirstChildElement();
     while (child) {
-      child = mjIncludeXML(child, dir, default_provider, included);
+      child = mjIncludeXML(child, dir, vfs_provider, included);
       if (child) {
         child = child->NextSiblingElement();
       }
@@ -234,7 +234,7 @@ static XMLElement* mjIncludeXML(XMLElement* elem, string dir,
 
 
 // Main parser function
-mjCModel* mjParseXML(const char* filename, int default_provider, char* error, int error_sz) {
+mjCModel* mjParseXML(const char* filename, int vfs_provider, char* error, int error_sz) {
   LocaleOverride locale_override;
 
   // check arguments
@@ -254,9 +254,9 @@ mjCModel* mjParseXML(const char* filename, int default_provider, char* error, in
   // get data source
   mjResource* resource = nullptr;
   const char* xmlstring = nullptr;
-  if ((resource = mju_openResource(filename, default_provider)) == nullptr) {
+  if ((resource = mju_openResource(filename, vfs_provider)) == nullptr) {
     // load from OS filesystem
-    if (!default_provider || (resource = mju_openResource(filename, 0)) == nullptr) {
+    if (!vfs_provider || (resource = mju_openResource(filename, 0)) == nullptr) {
       if (error) {
         snprintf(error, error_sz, "mjParseXML: could not open file '%s'", filename);
       }
@@ -284,29 +284,37 @@ mjCModel* mjParseXML(const char* filename, int default_provider, char* error, in
   XMLDocument doc;
   doc.Parse(xmlstring, buffer_size);
 
-  // close resource
-  mju_closeResource(resource);
-
-
   // error checking
   if (doc.Error()) {
     if (error) {
       snprintf(error, error_sz, "XML parse error %d:\n%s\n",
                doc.ErrorID(), doc.ErrorStr());
     }
+    mju_closeResource(resource);
     return nullptr;
   }
 
   // get top-level element
   XMLElement* root = doc.RootElement();
   if (!root) {
+    mju_closeResource(resource);
     mjCopyError(error, "XML root element not found", error_sz);
     return nullptr;
   }
 
   // create model, set filedir
   model = new mjCModel;
-  model->modelfiledir = mjuu_getfiledir(filename);
+  const char* dir;
+  int ndir = 0;
+  mju_getResourceDir(resource, &dir, &ndir);
+  if (dir != nullptr) {
+    model->modelfiledir = std::string(dir, ndir);
+  } else {
+    model->modelfiledir = "";
+  }
+
+  // close resource
+  mju_closeResource(resource);
 
   // parse with exceptions
   try {
@@ -314,7 +322,7 @@ mjCModel* mjParseXML(const char* filename, int default_provider, char* error, in
       // find include elements, replace them with subtree from xml file
       vector<string> included;
       included.push_back(filename);
-      mjIncludeXML(root, model->modelfiledir, default_provider, included);
+      mjIncludeXML(root, model->modelfiledir, vfs_provider, included);
 
       // parse MuJoCo model
       mjXReader parser;

src/xml/xml.h

@@ -26,7 +26,7 @@
 bool mjWriteXML(mjCModel* model, std::string filename, char* error, int error_sz);
 
 // Main parser function
-mjCModel* mjParseXML(const char* filename, int default_provider, char* error, int error_sz);
+mjCModel* mjParseXML(const char* filename, int vfs_provider, char* error, int error_sz);
 
 
 #endif  // MUJOCO_SRC_XML_XML_H_

src/xml/xml_api.cc

@@ -83,19 +83,19 @@ void mj_deactivate(void) {
 
 
 // mj_loadXML helper function
-mjModel* _loadXML(const char* filename, int default_provider,
+mjModel* _loadXML(const char* filename, int vfs_provider,
                   char* error, int error_sz) {
   // serialize access to themodel
   std::lock_guard<std::mutex> lock(themutex);
 
   // parse new model
-  mjCModel* newmodel = mjParseXML(filename, default_provider, error, error_sz);
+  mjCModel* newmodel = mjParseXML(filename, vfs_provider, error, error_sz);
   if (!newmodel) {
     return nullptr;
   }
 
   // compile new model
-  mjModel* m = newmodel->Compile(default_provider);
+  mjModel* m = newmodel->Compile(vfs_provider);
   if (!m) {
     mjCopyError(error, newmodel->GetError().message, error_sz);
     delete newmodel;

test/engine/engine_resource_test.cc

@@ -24,6 +24,7 @@
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_plugin.h"
 #include "src/engine/engine_resource.h"
+#include "src/engine/engine_vfs.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -41,7 +42,7 @@ int open_nop(mjResource* resource) {
 }
 
 int open_str(mjResource* resource) {
-  if (std::strcmp(resource->name, "str://file")) {
+  if (std::strcmp(resource->name, "str:file")) {
     return 0;
   }
 
@@ -67,7 +68,7 @@ void close_str(mjResource* resource) {
 }
 
 TEST_F(ResourceTest, RegisterProviderSuccess) {
-  mjpResourceProvider provider = {"myprefix", open_nop, read_nop, close_nop,
+  mjpResourceProvider provider = {"my-prefix.123+45", open_nop, read_nop, close_nop,
                                   nullptr};
 
   int count1 = mjp_resourceProviderCount();
@@ -97,7 +98,7 @@ TEST_F(ResourceTest, RegisterProviderMissingCallbacks) {
 }
 
 TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
-  mjpResourceProvider provider = {"", open_nop, read_nop, close_nop, nullptr};
+  mjpResourceProvider provider = {"", open_nop, read_nop, close_nop, nullptr, nullptr};
 
   // install warning handler
   static char warning[1024];
@@ -113,12 +114,8 @@ TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
   EXPECT_LT(i, 1);
 }
 
-TEST_F(ResourceTest, RegisterProviderSubPrefix) {
+TEST_F(ResourceTest, RegisterProviderInvalidPrefix1) {
-  mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
+  mjpResourceProvider provider = {"1invalid", open_nop, read_nop, close_nop, nullptr, nullptr};
-                                  nullptr};
-
-  mjpResourceProvider provider2 = {"pre", open_nop, read_nop, close_nop,
-                                   nullptr};
 
   // install warning handler
   static char warning[1024];
@@ -128,21 +125,14 @@ TEST_F(ResourceTest, RegisterProviderSubPrefix) {
   };
 
   int i = mjp_registerResourceProvider(&provider);
-  int j = mjp_registerResourceProvider(&provider2);
 
-
+  // warning message related to missing prefix
-  // warning message related to an error
+  EXPECT_THAT(warning, HasSubstr("prefix"));
-  EXPECT_THAT(warning, HasSubstr("cannot be register"));
+  EXPECT_LT(i, 1);
-  EXPECT_GT(i, 0);
-  EXPECT_LT(j, 1);
 }
 
-TEST_F(ResourceTest, RegisterProviderSuperPrefix) {
+TEST_F(ResourceTest, RegisterProviderInvalidPrefix2) {
-  mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
+  mjpResourceProvider provider = {"invalid:", open_nop, read_nop, close_nop, nullptr, nullptr};
-                                  nullptr};
-
-  mjpResourceProvider provider2 = {"prefix2", open_nop, read_nop, close_nop,
-                                   nullptr};
 
   // install warning handler
   static char warning[1024];
@@ -152,21 +142,18 @@ TEST_F(ResourceTest, RegisterProviderSuperPrefix) {
   };
 
   int i = mjp_registerResourceProvider(&provider);
-  int j = mjp_registerResourceProvider(&provider2);
 
-
+  // warning message related to missing prefix
-  // warning message related to an error
+  EXPECT_THAT(warning, HasSubstr("prefix"));
-  EXPECT_THAT(warning, HasSubstr("cannot be register"));
+  EXPECT_LT(i, 1);
-  EXPECT_GT(i, 0);
-  EXPECT_LT(j, 1);
 }
 
 TEST_F(ResourceTest, RegisterProviderSame) {
   mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
-                                  nullptr};
+    nullptr, nullptr};
 
   mjpResourceProvider provider2 = {"prefix", open_nop, read_nop, close_nop,
-                                   nullptr};
+    nullptr, nullptr};
 
   int i1 = mjp_registerResourceProvider(&provider);
   int count1 = mjp_resourceProviderCount();
@@ -176,19 +163,35 @@ TEST_F(ResourceTest, RegisterProviderSame) {
 
   EXPECT_EQ(i1, i2);
   EXPECT_EQ(count1, count2);
+}
 
+TEST_F(ResourceTest, RegisterProviderSameCase) {
+  mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
+    nullptr, nullptr};
+
+  mjpResourceProvider provider2 = {"PREFIX", open_nop, read_nop, close_nop,
+    nullptr, nullptr};
+
+  int i1 = mjp_registerResourceProvider(&provider);
+  int count1 = mjp_resourceProviderCount();
+
+  int i2 = mjp_registerResourceProvider(&provider2);
+  int count2 = mjp_resourceProviderCount();
+
+  EXPECT_EQ(i1, i2);
+  EXPECT_EQ(count1, count2);
 }
 
 TEST_F(ResourceTest, GeneralTest) {
-  mjpResourceProvider provider = {"str://", open_str, read_str, close_str,
+  mjpResourceProvider provider = {"str", open_str, read_str, close_str,
-                                  nullptr};
+    nullptr, nullptr};
 
   // register resource provider
   int i = mjp_registerResourceProvider(&provider);
   EXPECT_GT(i, 0);
 
   // open resource
-  mjResource* resource = mju_openResource("str://file", 0);
+  mjResource* resource = mju_openResource("str:file", 0);
   ASSERT_THAT(resource,  NotNull());
 
   const char* buffer = NULL;
@@ -200,8 +203,8 @@ TEST_F(ResourceTest, GeneralTest) {
 }
 
 TEST_F(ResourceTest, GeneralTestFailure) {
-  mjpResourceProvider provider = {"str://", open_str, read_str, close_str,
+  mjpResourceProvider provider = {"str", open_str, read_str, close_str,
-                                  nullptr};
+    nullptr, nullptr};
 
   // register resource provider
   int i = mjp_registerResourceProvider(&provider);
@@ -216,11 +219,100 @@ TEST_F(ResourceTest, GeneralTestFailure) {
   };
 
   // open resource
-  mjResource* resource = mju_openResource("str://notfound", 0);
+  mjResource* resource = mju_openResource("str:notfound", 0);
-  ASSERT_THAT(resource,  IsNull());
+  ASSERT_THAT(resource, IsNull());
 
   EXPECT_THAT(warning, HasSubstr("could not open"));
 }
 
+TEST_F(ResourceTest, NameWithValidPrefix) {
+  mjpResourceProvider provider = {"nop", open_nop, read_nop, close_nop,
+    nullptr, nullptr};
+
+  // register resource provider
+  int i = mjp_registerResourceProvider(&provider);
+  EXPECT_GT(i, 0);
+
+
+  // install warning handler
+  static char warning[1024];
+  warning[0] = '\0';
+  mju_user_warning = [](const char* msg) {
+    util::strcpy_arr(warning, msg);
+  };
+
+  // open resource
+  mjResource* resource = mju_openResource("nop:found", 0);
+  ASSERT_THAT(resource, NotNull());
+  mju_closeResource(resource);
+}
+
+TEST_F(ResourceTest, NameWithUpperCasePrefix) {
+  mjpResourceProvider provider = {"nop", open_nop, read_nop, close_nop,
+    nullptr, nullptr};
+
+  // register resource provider
+  int i = mjp_registerResourceProvider(&provider);
+  EXPECT_GT(i, 0);
+
+
+  // install warning handler
+  static char warning[1024];
+  warning[0] = '\0';
+  mju_user_warning = [](const char* msg) {
+    util::strcpy_arr(warning, msg);
+  };
+
+  // open resource
+  mjResource* resource = mju_openResource("NOP:found", 0);
+  ASSERT_THAT(resource, NotNull());
+  mju_closeResource(resource);
+}
+
+TEST_F(ResourceTest, NameWithInvalidPrefix) {
+  mjpResourceProvider provider = {"nop", open_nop, read_nop, close_nop,
+    nullptr, nullptr};
+
+  // register resource provider
+  int i = mjp_registerResourceProvider(&provider);
+  EXPECT_GT(i, 0);
+
+
+  // install warning handler
+  static char warning[1024];
+  warning[0] = '\0';
+  mju_user_warning = [](const char* msg) {
+    util::strcpy_arr(warning, msg);
+  };
+
+  // open resource
+  mjResource* resource = mju_openResource("nopfound", 0);
+  ASSERT_THAT(resource, IsNull());
+}
+
+TEST_F(ResourceTest, VFSProvider) {
+  // load VFS on the heap
+  auto vfs = std::make_unique<mjVFS>();
+  mj_defaultVFS(vfs.get());
+  mj_makeEmptyFileVFS(vfs.get(), "file", 1);
+
+  // register resource provider
+  int i = mj_registerVfsProvider(vfs.get());
+  EXPECT_GT(i, 0);
+
+
+  // install warning handler
+  static char warning[1024];
+  warning[0] = '\0';
+  mju_user_warning = [](const char* msg) {
+    util::strcpy_arr(warning, msg);
+  };
+
+  // open resource
+  mjResource* resource = mju_openResource("vfs:file", 0);
+  ASSERT_THAT(resource, IsNull());
+  mj_deleteFileVFS(vfs.get(), "file");
+}
+
 }  // namespace
 }  // namespace mujoco

test/fixture.cc

@@ -68,48 +68,26 @@ const std::string GetModelPath(std::string_view path) {
   return absl::StrCat("../model/", path);
 }
 
-int datastr_length(mjResource* resource) {
-  int len = strlen(resource->name)-1;
-
-  // string should have the format "S(data).ext"
-  for (; len > 2; len--) {
-    if (resource->name[len] == ')') {
-      return len - 2;
-    }
-  }
-  return -1;
-}
-
-int str_open_callback(mjResource* resource) {
-  if (datastr_length(resource) < 0) {
-    return 0;
-  }
-  resource->data = resource->name+2;
-  return 1;
-}
-
-int str_read_callback(mjResource* resource, const void** buffer) {
-  *buffer = resource->data;
-  return datastr_length(resource);
-}
-
-void str_close_callback(mjResource* resource) {
-}
-
 mjModel* LoadModelFromString(std::string_view xml, char* error,
                              int error_size, mjVFS* vfs) {
-
   // register string resource provider if not registered before
-  if (mjp_getResourceProvider("S(") == nullptr) {
+  if (mjp_getResourceProvider("LoadModelFromString:") == nullptr) {
     mjpResourceProvider resourceProvider;
-    resourceProvider.prefix = "S(";
+    mjp_defaultResourceProvider(&resourceProvider);
-    resourceProvider.open = str_open_callback;
+    resourceProvider.prefix = "LoadModelFromString";
-    resourceProvider.read = str_read_callback;
+    resourceProvider.open = +[](mjResource* resource) {
-    resourceProvider.close = str_close_callback;
+      resource->data = &(resource->name[strlen("LoadModelFromString:")]);
+      return 1;
+    };
+    resourceProvider.read = +[](mjResource* resource, const void** buffer) {
+      *buffer = resource->data;
+      return (int) strlen((const char*) resource->data);
+    };
+    resourceProvider.close = +[](mjResource* resource) {};
     mjp_registerResourceProvider(&resourceProvider);
   }
   std::string xml2 = {xml.begin(), xml.end()};
-  std::string str = "S(" +  xml2 + ")";
+  std::string str = "LoadModelFromString:" +  xml2;
   return mj_loadXML(str.c_str(), vfs, error, error_size);
 }