Method get_assets

dm_control/mjcf/element.py:1279–1305

Returns a dict containing the binary assets referenced in this model. This will contain `{vfs_filename: contents}` pairs. `vfs_filename` will be the name of the asset in MuJoCo's Virtual File System, which corresponds to the filename given in the XML returned by `to_xml_string()`. `cont

(self)

    return self.parent_model.root_model if self.parent_model else self

  def get_assets(self):
    """Returns a dict containing the binary assets referenced in this model.

    This will contain `{vfs_filename: contents}` pairs. `vfs_filename` will be
    the name of the asset in MuJoCo's Virtual File System, which corresponds to
    the filename given in the XML returned by `to_xml_string()`. `contents` is a
    bytestring.

    This dict can be used together with the result of `to_xml_string()` to
    construct a `mujoco.Physics` instance:

    ```python
    physics = mujoco.Physics.from_xml_string(
        xml_string=mjcf_model.to_xml_string(),
        assets=mjcf_model.get_assets())
    ```
    """
    # Get the assets referenced within this `RootElement`'s namescope.
    assets = {file_obj.to_xml_string(): file_obj.get_contents()
              for file_obj in self.namescope.files
              if file_obj.value}

    # Recursively add assets belonging to attachments.
    for attached_model in self._attachments.values():
      assets.update(attached_model.get_assets())

    return assets

  @property
  def full_identifier(self):