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Add assets to MjSpec.compile()

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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
This commit is contained in:
Alessio Quaglino
2024-07-19 04:33:35 -07:00
committed by Copybara-Service
parent 85532b74e1
commit 70ac76bb4b
5 changed files with 130 additions and 22 deletions
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python/mujoco/structs.cc
+11 -3
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@@ -423,8 +423,9 @@ MjModelWrapper MjModelWrapper::LoadXML(
return MjModelWrapper(model);
}
MjModelWrapper MjModelWrapper::CompileSpec(raw::MjSpec* spec) {
auto m = mj_compile(spec, nullptr);
MjModelWrapper MjModelWrapper::CompileSpec(raw::MjSpec* spec,
const mjVFS* vfs) {
auto m = mj_compile(spec, vfs);
if (!m || mjs_isWarning(spec)) {
throw py::value_error(mjs_getError(spec));
}
@@ -1572,7 +1573,14 @@ R"(Loads an MjModel from an XML string and an optional assets dictionary.)"));
mjModel.def_static(
"_from_spec_ptr", [](uintptr_t addr) {
return MjModelWrapper::CompileSpec(
reinterpret_cast<raw::MjSpec*>(addr));
reinterpret_cast<raw::MjSpec*>(addr),
nullptr);
});
mjModel.def_static(
"_from_spec_ptr", [](uintptr_t addr, uintptr_t vfs) {
return MjModelWrapper::CompileSpec(
reinterpret_cast<raw::MjSpec*>(addr),
reinterpret_cast<mjVFS*>(vfs));
});
mjModel.def_static(
"from_xml_path", &MjModelWrapper::LoadXMLFile,