From 848e01402036b2070eeb36503815cac0cc87324c Mon Sep 17 00:00:00 2001 From: Levi Burner Date: Thu, 21 Mar 2024 11:39:37 -0700 Subject: [PATCH] Copybara import of the project: -- 40996ab1a05f328c2b5d1b940abb189d43f646de by Levi Burner : [Python Viewer] load mjb files, fixes #1421 COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1535 from aftersomemath:simulate-load-mjb 40996ab1a05f328c2b5d1b940abb189d43f646de PiperOrigin-RevId: 617913250 Change-Id: I09e858495784122c29e0a3895ce43b95010003bc --- python/mujoco/viewer.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py index 107ee83f..1855935f 100644 --- a/python/mujoco/viewer.py +++ b/python/mujoco/viewer.py @@ -169,7 +169,10 @@ def _file_loader(path: str) -> _LoaderWithPathType: """Loads an MJCF model from file path.""" def load(path=path) -> Tuple[mujoco.MjModel, mujoco.MjData, str]: - m = mujoco.MjModel.from_xml_path(path) + if len(path) >= 4 and path[-4:] == '.mjb': + m = mujoco.MjModel.from_binary_path(path) + else: + m = mujoco.MjModel.from_xml_path(path) d = mujoco.MjData(m) return m, d, path