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

PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485

doc/APIreference/functions.rst

@@ -127,6 +127,17 @@ the required size. XML saving automatically compiles the spec before saving.
 
 Save spec to XML file, return 0 on success, -1 otherwise. XML saving requires that the spec first be compiled.
 
+.. _mju_getXMLDependencies:
+
+`mju_getXMLDependencies <#mju_getXMLDependencies>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_getXMLDependencies
+
+Given MJCF filename, fills dependencies with a list of all other asset files it depends on.
+
+The search is recursive, and the list includes the filename itself.
+
 .. _Mainsimulation:
 
 Main simulation

doc/changelog.rst

@@ -24,6 +24,10 @@ General
   :ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
   no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
 
+- Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
+
+- Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
+
 
 MJX
 ^^^

doc/includes/references.h

@@ -3021,6 +3021,7 @@ int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int erro
 void mj_freeLastXML(void);
 int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
 int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
+void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
 void mj_step(const mjModel* m, mjData* d);
 void mj_step1(const mjModel* m, mjData* d);
 void mj_step2(const mjModel* m, mjData* d);
@@ -3182,7 +3183,6 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
                    const mjtNum* pnt, const mjtNum* vec, int vertid[1]);
 mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
                    const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
-void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
 void mjv_defaultCamera(mjvCamera* cam);
 void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
 void mjv_defaultPerturb(mjvPerturb* pert);

include/mujoco/mujoco.h

@@ -151,6 +151,9 @@ MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error,
 // Nullable: error
 MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
 
+// Given MJCF filename, fills dependencies with a list of all other asset files it depends on.
+// The search is recursive, and the list includes the filename itself.
+MJAPI void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
 
 //---------------------------------- Main simulation -----------------------------------------------
 
@@ -644,11 +647,6 @@ MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtB
 MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
                          const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
 
-//---------------------------------- Dependencies --------------------------------------------------
-
-// Given MJCF filename, fills dependencies with a list of all other files it depends on.
-MJAPI void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
-
 //---------------------------------- Interaction ---------------------------------------------------
 
 // Set default camera.

python/mujoco/introspect/functions.py

@@ -481,6 +481,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Save spec to XML file, return 0 on success, -1 otherwise.',
      )),
+    ('mju_getXMLDependencies',
+     FunctionDecl(
+         name='mju_getXMLDependencies',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='filename',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='dependencies',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjStringVec'),
+                 ),
+             ),
+         ),
+         doc='Given MJCF filename, fills dependencies with a list of all other asset files it depends on. The search is recursive, and the list includes the filename itself.',  # pylint: disable=line-too-long
+     )),
     ('mj_step',
      FunctionDecl(
          name='mj_step',
@@ -3925,26 +3945,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
      )),
-    ('mju_getXMLDependencies',
-     FunctionDecl(
-         name='mju_getXMLDependencies',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dependencies',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-             ),
-         ),
-         doc='Given MJCF filename, fills dependencies with a list of all other files it depends on.',  # pylint: disable=line-too-long
-     )),
     ('mjv_defaultCamera',
      FunctionDecl(
          name='mjv_defaultCamera',

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;
+}

unity/Runtime/Bindings/MjBindings.cs

@@ -6367,6 +6367,9 @@ public static unsafe extern int mj_saveLastXML([MarshalAs(UnmanagedType.LPStr)]s
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_freeLastXML();
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mju_getXMLDependencies([MarshalAs(UnmanagedType.LPStr)]string filename, void* dependencies);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_step(mjModel_* m, mjData_* d);
 
@@ -6757,9 +6760,6 @@ public static unsafe extern double mju_rayFlex(mjModel_* m, mjData_* d, int flex
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern double mju_raySkin(int nface, int nvert, int* face, float* vert, double* pnt, double* vec, int* vertid);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_getXMLDependencies([MarshalAs(UnmanagedType.LPStr)]string filename, void* dependencies);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_defaultCamera(mjvCamera_* cam);