Method reload_from_mjcf_model

dm_control/mjcf/physics.py:465–483

Reloads this `mjcf.Physics` from an `mjcf.RootElement`. After calling this method, the state of this `Physics` instance is the same as a new `Physics` instance created with the `from_mjcf_model` named constructor. Args: mjcf_model: An `mjcf.RootElement` instance.

(self, mjcf_model)

      debug_context.process_and_raise_last_exception()

  def reload_from_mjcf_model(self, mjcf_model):
    """Reloads this `mjcf.Physics` from an `mjcf.RootElement`.

    After calling this method, the state of this `Physics` instance is the same
    as a new `Physics` instance created with the `from_mjcf_model` named
    constructor.

    Args:
      mjcf_model: An `mjcf.RootElement` instance.
    """
    debug_context = debugging.DebugContext()
    xml_string = mjcf_model.to_xml_string(debug_context=debug_context)
    if _pymjcf_log_xml():
      _log_xml(xml_string)
    assets = mjcf_model.get_assets()
    try:
      self.reload_from_xml_string(xml_string=xml_string, assets=assets)
    except ValueError:
      debug_context.process_and_raise_last_exception()

  def _reload_from_data(self, data):
    """Initializes a new or existing `Physics` instance from a `core.MjData`.