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Add pluggable resource writing to MuJoCo

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Extend mjpResourceProvider with an optional write callback (write)
so that mj_encode, mj_saveXML, and mj_saveModel can write to any
registered provider.

PiperOrigin-RevId: 945202741
Change-Id: I37903425260932e555f4a8c2392c4ff8c2e6cc06
This commit is contained in:
Sam Haves
2026-07-09 10:47:01 -07:00
committed by Copybara-Service
parent bdeb7e7c4d
commit dc7581acfa
18 changed files with 324 additions and 83 deletions
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doc/changelog.rst
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@@ -20,6 +20,7 @@ General
- Fixed loading of ``.mjz`` archives in :ref:`simulate<saSimulate>`: the archive was unmounted before model compilation,
so assets contained in it failed to load. Failures in the ``mjz`` decoder now emit a warning with the underlying
error instead of the generic "could not decode content" message.
- Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in :ref:`mjpResourceProvider`.
.. admonition:: Breaking API changes
:class: attention