| """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) | |