From 6f031f2293dc9339b42cac8a690ec1a16aee8b8e Mon Sep 17 00:00:00 2001 From: Kristian Hartikainen Date: Thu, 26 Sep 2024 12:38:56 +0300 Subject: [PATCH] Enable binary `.mjb` in `mjx/viewer.py` --- mjx/mujoco/mjx/viewer.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/mjx/mujoco/mjx/viewer.py b/mjx/mujoco/mjx/viewer.py index 84fd475f..08b24553 100644 --- a/mjx/mujoco/mjx/viewer.py +++ b/mjx/mujoco/mjx/viewer.py @@ -48,7 +48,10 @@ def _main(argv: Sequence[str]) -> None: jax.config.update('jax_debug_nans', True) print(f'Loading model from: {_MODEL_PATH.value}.') - m = mujoco.MjModel.from_xml_path(_MODEL_PATH.value) + if _MODEL_PATH.value.endswith('.mjb'): + m = mujoco.MjModel.from_binary_path(_MODEL_PATH.value) + else: + m = mujoco.MjModel.from_xml_path(_MODEL_PATH.value) d = mujoco.MjData(m) mx = mjx.put_model(m) dx = mjx.put_data(m, d)