Move OBJ handling to a mjpDecoder.

PiperOrigin-RevId: 875194599
Change-Id: I2cccc683d69a217f1817e70d16bc1815e366d00c

test/user/CMakeLists.txt

@@ -12,7 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-mujoco_test(user_model_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
+mujoco_test(
+  user_model_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
+  ADDITIONAL_LINK_LIBRARIES absl::str_format
+)
 
 mujoco_test(user_objects_test)
 
@@ -23,9 +29,20 @@ mujoco_test(
   "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
 )
 
-mujoco_test(user_flex_test)
+mujoco_test(
+  user_flex_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
+)
 
-mujoco_test(user_mesh_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
+mujoco_test(
+  user_mesh_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
+  ADDITIONAL_LINK_LIBRARIES absl::str_format
+)
 
 mujoco_test(user_composite_test)
 

test/user/user_mesh_test.cc

@@ -71,6 +71,9 @@ static const char* const kMalformedFaceOBJPath =
 static const char* const kCubeSkinPath =
     "user/testdata/cube_skin.xml";
 
+static const char* const kNoDecoderForMeshErrorMsh =
+    "no decoder found for mesh";
+
 using ::testing::ElementsAre;
 using ::testing::HasSubstr;
 using ::testing::IsNull;
@@ -110,7 +113,7 @@ TEST_F(MjCMeshTest, UnknownMeshFormat) {
         LoadModelFromString(xml.c_str(), error.data(), error.size(), &vfs);
     ASSERT_THAT(model, testing::IsNull())
         << "Should fail to load a mesh named: " << name;
-    EXPECT_THAT(error.data(), HasSubstr("unknown or unsupported mesh file: "));
+    EXPECT_THAT(error.data(), HasSubstr(kNoDecoderForMeshErrorMsh));
     EXPECT_THAT(error.data(), HasSubstr(name));
   }
 
@@ -300,7 +303,7 @@ TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
   // should error with unknown file type
   mjModel* model = LoadModelFromString(xml, error, error_sz, &vfs);
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("unsupported mesh type: 'model/unknown'"));
+  EXPECT_THAT(error, HasSubstr(kNoDecoderForMeshErrorMsh));
   mj_deleteVFS(&vfs);
 }
 
@@ -327,7 +330,7 @@ TEST_F(MjCMeshTest, LoadMSHWithInvalidContentType) {
   // should error with unknown file type
   mjModel* model = LoadModelFromString(xml, error, error_sz, &vfs);
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("invalid content type: 'model'"));
+  EXPECT_THAT(error, HasSubstr(kNoDecoderForMeshErrorMsh));
   mj_deleteVFS(&vfs);
 }
 

test/xml/CMakeLists.txt

@@ -14,7 +14,12 @@
 
 mujoco_test(xml_api_test)
 
-mujoco_test(xml_native_reader_test)
+mujoco_test(
+  xml_native_reader_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
+)
 
 mujoco_test(xml_utils_test)