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Accept relative paths in the model xml when loading from xml #641

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Accept relative paths in the model xml when loading from xml #641

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91a5ab5
Modifies the function load_model_from_xml to allow relative paths
gntoni Oct 20, 2021
58bab1f
Merge branch 'openai:master' into master
gntoni Dec 21, 2021
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4 changes: 2 additions & 2 deletions mujoco_py/cymj.pyx
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Original file line number Diff line number Diff line change
Expand Up @@ -175,15 +175,15 @@ def load_model_from_path(str path):
raise Exception('Failed to load XML file: %s. mj_loadXML error: %s' % (path, errstr,))
return WrapMjModel(model)

def load_model_from_xml(str xml_str):
def load_model_from_xml(str xml_str, str path=None):
"""
Loads and returns a PyMjModel model from a string containing XML markup.
Saves the XML string used to create the returned model in `model.xml`.
"""
cdef char errstr[300]
cdef mjModel *model
with wrap_mujoco_warning():
with tempfile.NamedTemporaryFile(suffix=".xml", delete=True) as fp:
with tempfile.NamedTemporaryFile(suffix=".xml", dir=path, delete=True) as fp:
fp.write(xml_str.encode())
fp.flush()
model = mj_loadXML(fp.name.encode(), NULL, errstr, 300)
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