Create list_dependencies sample to list all dependencies for an MCJF file.

PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485

sample/CMakeLists.txt

@@ -76,12 +76,19 @@ target_compile_options(compile PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
 target_link_libraries(compile Threads::Threads)
 target_link_options(compile PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
 
+# Build sample binaries
+add_executable(dependencies dependencies.cc)
+target_compile_options(dependencies PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
+target_link_libraries(dependencies Threads::Threads)
+target_link_options(dependencies PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
+
 add_executable(testspeed testspeed.cc)
 target_compile_options(testspeed PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
 target_link_libraries(testspeed Threads::Threads)
 target_link_options(testspeed PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
 
 target_link_libraries(compile mujoco::mujoco)
+target_link_libraries(dependencies mujoco::mujoco)
 target_link_libraries(testspeed mujoco::mujoco)
 
 # Build samples that require GLFW.
@@ -109,6 +116,7 @@ target_link_options(record PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
 if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
   embed_in_bundle(basic simulate)
   embed_in_bundle(compile simulate)
+  embed_in_bundle(dependencies simulate)
   embed_in_bundle(record simulate)
   embed_in_bundle(testspeed simulate)
 endif()
@@ -127,6 +135,7 @@ if(_INSTALL_SAMPLES)
     TARGETS
     basic
     compile
+    dependencies
     record
     testspeed
     INSTALL_DIRECTORY
@@ -140,6 +149,7 @@ if(_INSTALL_SAMPLES)
   install(
     TARGETS basic
             compile
+            dependencies
             record
             testspeed
     EXPORT ${PROJECT_NAME}

sample/dependencies.cc

@@ -0,0 +1,45 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <algorithm>
+#include <cstdlib>
+#include <iostream>
+#include <mujoco/mujoco.h>
+
+// help
+static constexpr char helpstring[] =
+  "\n Usage:  list_dependencies infile\n"
+  "   infile must be in MJCF\n"
+  " Example: list_dependencies model.xml\n";
+
+
+// main function
+int main(int argc, char** argv) {
+
+  // print help if arguments are missing
+  if (argc!=3 && argc!=2) {
+    std::cout << helpstring << std::endl;
+    return EXIT_SUCCESS;
+  }
+
+  mjStringVec dependencies;
+  mju_getXMLDependencies(argv[1], &dependencies);
+  std::sort(dependencies.begin(), dependencies.end());
+
+  std::cout << "Dependencies:" << std::endl;
+  for (int i = 0; i < dependencies.size(); ++i) {
+    std::cout << "\t " << dependencies[i] << std::endl;
+  }
+  return EXIT_SUCCESS;
+}