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Refactor compiler warning handling.

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Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.

PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
This commit is contained in:
Yuval Tassa
2026-06-16 16:27:52 -07:00
committed by Copybara-Service
parent 55c6332f20
commit 6f8bb5ef55
25 changed files with 640 additions and 89 deletions
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doc/changelog.rst
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@@ -20,6 +20,8 @@ General
- New types: :ref:`mjtLogLevel`, :ref:`mjtLogTopic`, :ref:`mjLogMessage`, :ref:`mjLogConfig`.
- The legacy callbacks :ref:`mju_user_error` and :ref:`mju_user_warning` are deprecated but remain functional.
- Added :ref:`mjs_numWarnings` and :ref:`mjs_getWarning` for retrieving all warnings accumulated during model
compilation and attachment. Deprecated :ref:`mjs_isWarning` in favor of ``mjs_numWarnings(s) > 0``.
- Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in
:issue:`2313` and :github:user:`denzeler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
`1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__.