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8ebd73b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | """Loads a raw mjcf file and saves a compiled mjcf file.
This avoids mujoco-py from complaining about .urdf extension.
Also allows assets to be compiled properly.
Example:
$ python compile_mjcf_model.py source_mjcf.xml target_mjcf.xml
"""
import os
import sys
from shutil import copyfile
import mujoco
def print_usage():
print("""python compile_mjcf_model.py input_file output_file""")
if __name__ == "__main__":
if len(sys.argv) != 3:
print_usage()
exit(0)
input_file = sys.argv[1]
output_file = sys.argv[2]
input_folder = os.path.dirname(input_file)
tempfile = os.path.join(input_folder, ".robosuite_temp_model.xml")
copyfile(input_file, tempfile)
model = mujoco.MjModel.from_xml_path(tempfile)
xml_string = model.get_xml()
with open(output_file, "w") as f:
f.write(xml_string)
os.remove(tempfile)
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