Matija Kecman
91d78346e1
PiperOrigin-RevId: 953181335 Change-Id: I1d2ce6f27f50aa4c30cce6d43caed80186ddef42
25 lines
896 B
Python
25 lines
896 B
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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else:
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model = mujoco.MjSpec.from_file(filepath).compile()
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return mujoco.MjData(model)
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