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Enable binary .mjb in mjx/viewer.py

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This commit is contained in:
Kristian Hartikainen
2024-09-26 12:38:56 +03:00
parent 827401554e
commit 6f031f2293
1 changed files with 4 additions and 1 deletions
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mjx/mujoco/mjx/viewer.py
+4 -1
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@@ -48,7 +48,10 @@ def _main(argv: Sequence[str]) -> None:
jax.config.update('jax_debug_nans', True) jax.config.update('jax_debug_nans', True)
print(f'Loading model from: {_MODEL_PATH.value}.') 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) d = mujoco.MjData(m)
mx = mjx.put_model(m) mx = mjx.put_model(m)
dx = mjx.put_data(m, d) dx = mjx.put_data(m, d)