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Introduce explicit VFS in Python MjVfs

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This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.

From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.

PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
This commit is contained in:
Sam Haves
2026-05-01 09:33:43 -07:00
committed by Copybara-Service
parent 910b3336ed
commit 723b8b1ea6
10 changed files with 599 additions and 78 deletions
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python/mujoco/structs.cc
+8 -10
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@@ -41,6 +41,7 @@
#include <pybind11/pybind11.h>
#include <pybind11/pytypes.h>
#include <pybind11/stl.h>
#include "vfs.h"
namespace mujoco::python::_impl {
@@ -301,24 +302,21 @@ PYBIND11_MODULE(_structs, m) {
// ==================== MJMODEL ==============================================
py::class_<MjModelWrapper> mjModel(m, "MjModel");
mjModel.def_static(
"from_xml_string", &MjModelWrapper::LoadXML, py::arg("xml"),
py::arg_v("assets", py::none()),
"from_xml_string", MjModelWrapper::LoadXML, py::arg("xml"),
py::arg_v("assets", py::none()), py::arg("vfs") = py::none(),
py::doc(
R"(Loads an MjModel from an XML string and an optional assets dictionary.)"));
R"(Loads an MjModel from an XML string and optional assets dict or VFS.)"));
mjModel.def_static("_from_model_ptr", [](uintptr_t addr) {
return MjModelWrapper::WrapRawModel(reinterpret_cast<raw::MjModel*>(addr));
});
mjModel.def_static(
"from_xml_path", &MjModelWrapper::LoadXMLFile, py::arg("filename"),
py::arg_v("assets", py::none()),
"from_xml_path", MjModelWrapper::LoadXMLFile, py::arg("filename"),
py::arg_v("assets", py::none()), py::arg("vfs") = py::none(),
py::doc(
R"(Loads an MjModel from an XML file and an optional assets dictionary.
The filename for the XML can also refer to a key in the assets dictionary.
This is useful for example when the XML is not available as a file on disk.)"));
R"(Loads an MjModel from an XML file and optional assets dict or VFS.)"));
mjModel.def_static(
"from_binary_path", &MjModelWrapper::LoadBinaryFile, py::arg("filename"),
py::arg_v("assets", py::none()),
py::arg_v("assets", py::none()), py::arg("vfs") = py::none(),
py::doc(
R"(Loads an MjModel from an MJB file and an optional assets dictionary.