Move mjz_decoder out of experimental to xml/mjz.

Since the mjz format is just an archive for MJCF assets this seems like a sensible place. The upcoming mjz encoder will also need to make use of the full precision XML utility that is local to src/xml.

PiperOrigin-RevId: 912044746
Change-Id: I6a9fef24b1c3fec5b5edc3a8d4c8e22584273264

CMakeLists.txt

@@ -256,7 +256,7 @@ if(MUJOCO_BUILD_SIMULATE)
 endif()
 
 if(MUJOCO_BUILD_STUDIO)
-  add_subdirectory(src/experimental/mjz)
+  add_subdirectory(src/xml/mjz)
   add_subdirectory(src/experimental/platform)
   add_subdirectory(src/experimental/studio)
 endif()

src/xml/mjz/CMakeLists.txt

@@ -11,27 +11,11 @@
 # 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.
-
-cmake_minimum_required(VERSION 3.16)
-
-set(MUJOCO_MJZ_TARGET_NAME mujoco_mjz)
-
-add_library(${MUJOCO_MJZ_TARGET_NAME} STATIC)
-
-target_include_directories(${MUJOCO_MJZ_TARGET_NAME} PRIVATE
-    ../..
-)
-
-target_sources(${MUJOCO_MJZ_TARGET_NAME}
-    PUBLIC
-        mjz_decoder.cc
-)
-
 include(third_party_deps/miniz)
 
-target_link_libraries(${MUJOCO_MJZ_TARGET_NAME}
+set(MUJOCO_MJZ_SRCS
-    miniz
+    mjz_decoder.cc
-    mujoco::mujoco
 )
 
-add_library(mujoco::mjz ALIAS ${MUJOCO_MJZ_TARGET_NAME})
+target_sources(mujoco PRIVATE ${MUJOCO_MJZ_SRCS})
+target_link_libraries(mujoco miniz)

test/xml/mjz/CMakeLists.txt

@@ -0,0 +1,19 @@
+# Copyright 2021 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
+#
+#     https://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.
+
+mujoco_test(mjz_api_test)
+
+mujoco_test(
+  mjz_decoder_test
+)