Function from_file

dm_control/mjcf/parser.py:58–82

Parses an XML file into an MJCF object model. Args: file_handle: A Python file-like handle. escape_separators: (optional) A boolean, whether to replace '/' characters in element identifiers. If `False`, any '/' present in the XML causes a ValueError to be raised. model_dir

(file_handle, escape_separators=False,
              model_dir='', resolve_references=True, assets=None)

def from_file(file_handle, escape_separators=False,
              model_dir='', resolve_references=True, assets=None):
  """Parses an XML file into an MJCF object model.

  Args:
    file_handle: A Python file-like handle.
    escape_separators: (optional) A boolean, whether to replace '/' characters
      in element identifiers. If `False`, any '/' present in the XML causes
      a ValueError to be raised.
    model_dir: (optional) Path to the directory containing the model XML file.
      This is used to prefix the paths of all asset files.
    resolve_references: (optional) A boolean indicating whether the parser
      should attempt to resolve reference attributes to a corresponding element.
    assets: (optional) A dictionary of pre-loaded assets, of the form
      `{filename: bytestring}`. If present, PyMJCF will search for assets in
      this dictionary before attempting to load them from the filesystem.

  Returns:
    An `mjcf.RootElement`.
  """
  xml_root = etree.parse(file_handle).getroot()
  return _parse(xml_root, escape_separators,
                model_dir=model_dir,
                resolve_references=resolve_references,
                assets=assets)


def from_path(path, escape_separators=False, resolve_references=True,