Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.
Closes #2 Closes #42 Closes #59 PiperOrigin-RevId: 416794598 Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
+100
-98
@@ -12,135 +12,137 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mujoco.h"
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <ctype.h>
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#include <cctype>
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#include <cstddef>
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#include <cstdio>
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#include <cstring>
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#include "mujoco.h"
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// help
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const char helpstring[] =
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"\n Usage: compile infile outfile\n"
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" infile can be in mjcf, urdf, mjb format\n"
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" outfile can be in mjcf, mjb, txt format\n\n"
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" Example: compile model.xml model.mjb\n";
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"\n Usage: compile infile outfile\n"
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" infile can be in mjcf, urdf, mjb format\n"
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" outfile can be in mjcf, mjb, txt format\n\n"
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" Example: compile model.xml model.mjb\n";
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// deallocate and print message
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int finish(const char* msg = 0, mjModel* m = 0)
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{
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// deallocated everything
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if( m )
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mj_deleteModel(m);
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int finish(const char* msg = 0, mjModel* m = 0) {
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// deallocated everything
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if (m) {
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mj_deleteModel(m);
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}
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// print message
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if( msg )
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printf("%s\n", msg);
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// print message
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if (msg) {
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std::printf("%s\n", msg);
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}
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return 0;
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return 0;
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}
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// possible file types
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enum
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{
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typeUNKNOWN = 0,
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typeXML,
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typeMJB,
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typeTXT
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enum {
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typeUNKNOWN = 0,
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typeXML,
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typeMJB,
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typeTXT
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};
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// determine file type
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int filetype(const char* filename)
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{
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// convert to lower case for string comparison
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char lower[1000];
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size_t i=0;
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while( i<strlen(filename) && i<999 )
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{
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lower[i] = (char)tolower(filename[i]);
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i++;
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}
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lower[i] = 0;
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int filetype(const char* filename) {
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// convert to lower case for string comparison
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char lower[1000];
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std::size_t i=0;
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while (i<std::strlen(filename) && i<999) {
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lower[i] = (char)tolower(filename[i]);
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i++;
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}
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lower[i] = 0;
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// find last dot
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int dot = (int)strlen(lower);
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while( dot>=0 && lower[dot]!='.' )
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dot--;
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// find last dot
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int dot = (int)std::strlen(lower);
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while (dot>=0 && lower[dot]!='.') {
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dot--;
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}
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// no dot found
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if( dot<0 )
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return typeUNKNOWN;
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// no dot found
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if (dot<0) {
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return typeUNKNOWN;
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}
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// check extension
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if( !strcmp(lower+dot, ".xml") || !strcmp(lower+dot, ".urdf") )
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return typeXML;
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else if( !strcmp(lower+dot, ".mjb") )
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return typeMJB;
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else if( !strcmp(lower+dot, ".txt") )
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return typeTXT;
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else
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return typeUNKNOWN;
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// check extension
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if (!std::strcmp(lower+dot, ".xml") || !std::strcmp(lower+dot, ".urdf")) {
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return typeXML;
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} else if (!std::strcmp(lower+dot, ".mjb")) {
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return typeMJB;
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} else if (!std::strcmp(lower+dot, ".txt")) {
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return typeTXT;
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} else {
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return typeUNKNOWN;
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}
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}
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// main function
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int main(int argc, const char** argv)
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{
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// model and error
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mjModel* m = 0;
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char error[1000];
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int main(int argc, const char** argv) {
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// model and error
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mjModel* m = 0;
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char error[1000];
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// print help if arguments are missing
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if( argc!=3 )
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return finish(helpstring);
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// print help if arguments are missing
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if (argc!=3) {
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return finish(helpstring);
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}
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// determine file types
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int type1 = filetype(argv[1]);
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int type2 = filetype(argv[2]);
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// determine file types
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int type1 = filetype(argv[1]);
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int type2 = filetype(argv[2]);
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// check types
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if( type1==typeUNKNOWN || type1==typeTXT ||
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type2==typeUNKNOWN || (type1==typeMJB && type2==typeXML) )
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return finish("Illegal combination of file formats");
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// check types
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if (type1==typeUNKNOWN || type1==typeTXT ||
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type2==typeUNKNOWN || (type1==typeMJB && type2==typeXML)) {
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return finish("Illegal combination of file formats");
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}
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// make sure output file does not exist
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FILE* fp = fopen(argv[2], "r");
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if( fp )
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{
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fclose(fp);
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return finish("Output file already exists");
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// make sure output file does not exist
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std::FILE* fp = std::fopen(argv[2], "r");
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if (fp) {
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std::fclose(fp);
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return finish("Output file already exists");
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}
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// load model
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if (type1==typeXML) {
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m = mj_loadXML(argv[1], 0, error, 1000);
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} else {
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m = mj_loadModel(argv[1], 0);
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}
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// check error
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if (!m) {
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if (type1==typeXML) {
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return finish(error, 0);
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} else {
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return finish("Could not load model", 0);
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}
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}
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// load model
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if( type1==typeXML )
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m = mj_loadXML(argv[1], 0, error, 1000);
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else
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m = mj_loadModel(argv[1], 0);
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// check error
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if( !m )
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{
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if( type1==typeXML )
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return finish(error, 0);
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else
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return finish("Could not load model", 0);
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// save model
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if (type2==typeXML) {
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if (mj_saveLastXML(argv[2], m, error, 1000)) {
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return finish(error, m);
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}
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} else if (type2==typeMJB) {
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mj_saveModel(m, argv[2], 0, 0);
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} else {
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mj_printModel(m, argv[2]);
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}
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// save model
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if( type2==typeXML )
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{
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if( mj_saveLastXML(argv[2], m, error, 1000) )
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return finish(error, m);
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}
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else if( type2==typeMJB )
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mj_saveModel(m, argv[2], 0, 0);
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else
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mj_printModel(m, argv[2]);
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// finalize
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return finish("Done", m);
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// finalize
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return finish("Done", m);
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}
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