def save()

in mujoco_py/mjsim.pyx [0:0]

• 27 lines of code
• 6 McCabe index (conditional complexity)

    def save(self, file, format='xml', keep_inertials=False):
        """
        Saves the simulator model and state to a file as either
        a MuJoCo XML or MJB file. The current state is saved as
        a keyframe in the model file. This is useful for debugging
        using MuJoCo's `simulate` utility.

        Note that this doesn't save the UDD-state which is
        part of MjSimState, since that's not supported natively
        by MuJoCo. If you want to save the model together with
        the UDD-state, you should use the `get_xml` or `get_mjb`
        methods on `MjModel` together with `MjSim.get_state` and
        save them with e.g. pickle.

        Args:
        - file (IO stream): stream to write model to.
        - format: format to use (either 'xml' or 'mjb')
        - keep_inertials (bool): if False, removes all <inertial>
          properties derived automatically for geoms by MuJoco. Note
          that this removes ones that were provided by the user
          as well.
        """
        xml_str = self.model.get_xml()
        dom = minidom.parseString(xml_str)

        mujoco_node = dom.childNodes[0]
        assert mujoco_node.tagName == 'mujoco'

        keyframe_el = dom.createElement('keyframe')
        key_el = dom.createElement('key')
        keyframe_el.appendChild(key_el)
        mujoco_node.appendChild(keyframe_el)

        def str_array(arr):
            return " ".join(map(str, arr))

        key_el.setAttribute('time', str(self.data.time))
        key_el.setAttribute('qpos', str_array(self.data.qpos))
        key_el.setAttribute('qvel', str_array(self.data.qvel))
        if self.data.act is not None:
            key_el.setAttribute('act', str_array(self.data.act))

        if not keep_inertials:
            for element in dom.getElementsByTagName('inertial'):
                element.parentNode.removeChild(element)

        result_xml = remove_empty_lines(dom.toprettyxml(indent=" " * 4))

        if format == 'xml':
            file.write(result_xml)
        elif format == 'mjb':
            new_model = load_model_from_xml(result_xml)
            file.write(new_model.get_mjb())
        else:
            raise ValueError("Unsupported format. Valid ones are 'xml' and 'mjb'")