def from_mjcf_model(cls, mjcf_model):
"""Constructs a new `mjcf.Physics` from an `mjcf.RootElement`.
Args:
mjcf_model: An `mjcf.RootElement` instance.
Returns:
A new `mjcf.Physics` instance.
"""
debug_context = debugging.DebugContext()
xml_string = mjcf_model.to_xml_string(debug_context=debug_context)
if _pymjcf_log_xml():
if debug_context.debug_mode and debug_context.default_dump_dir:
logging.info('Full debug info is dumped to disk at %s',
debug_context.default_dump_dir)
debug_context.dump_full_debug_info_to_disk()
else:
logging.info(
'Full debug info is not yet dumped to disk. If this is '
'needed, pass all three flags: --pymjcf_log_xml '
'--pymjcf_debug --pymjcf_debug_full_dump_dir=/path/dir/')
_log_xml(xml_string)
assets = mjcf_model.get_assets()
try:
return cls.from_xml_string(xml_string=xml_string, assets=assets)
except mujoco_wrapper.Error:
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 mujoco_wrapper.Error:
debug_context.process_and_raise_last_exception()