Matija Kecman
b389b28b87
PiperOrigin-RevId: 957616406 Change-Id: I582d23039b4aec745e0525392c062102f4d9ae25
31 lines
1.2 KiB
Python
31 lines
1.2 KiB
Python
# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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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"""Loads and compiles MuJoCo models for the studio viewer."""
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import mujoco
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def parse(filepath: str) -> mujoco.MjData:
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if filepath.endswith('.mjb'):
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model = mujoco.MjModel.from_binary_path(filepath)
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elif filepath.endswith(('.mjz', '.zip')):
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# .mjz archives mount assets into a VFS during parsing; the same VFS must
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# be passed to compile() so the assets remain accessible.
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with mujoco.MjVfs() as vfs:
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spec = mujoco.MjSpec.from_file(filepath, vfs=vfs)
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model = spec.compile(vfs=vfs)
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else:
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model = mujoco.MjSpec.from_file(filepath).compile()
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return mujoco.MjData(model)
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