Add to_file function to save the Spec to a file.

Fixes #2415. PiperOrigin-RevId: 725161617 Change-Id: I6c374cc7f7cb3f1da1cc0da531dd7e5be5d62b6a
google-deepmind · Feb 10, 2025 · 4156350 · 4156350
1 parent 0e01b51
commit 4156350
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
@@ -518,6 +518,12 @@ PYBIND11_MODULE(_specs, m) {
     }
     return std::string(buf.get());
   });
+  mjSpec.def("to_file", [](MjSpec& self, std::string& file) {
+    std::array<char, 1024> err;
+    if (mj_saveXML(self.ptr, file.c_str(), err.data(), err.size()) < 0) {
+      throw FatalError(std::string(err.data()));
+    }
+  });
   mjSpec.def(
       "add_default",
       [](MjSpec* spec, std::string& classname,

diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
@@ -113,9 +113,7 @@ def test_basic(self):
     self.assertEqual(model.nuser_site, 6)
     np.testing.assert_array_equal(model.site_user[0], [1, 2, 3, 4, 5, 6])
 
-    self.assertEqual(
-        spec.to_xml(),
-        textwrap.dedent("""\
+    xml = textwrap.dedent("""\
         <mujoco model="MuJoCo Model">
           <compiler angle="radian"/>
 
@@ -127,8 +125,8 @@ def test_basic(self):
             </body>
           </worldbody>
         </mujoco>
-    """),
-    )
+    """)
+    self.assertEqual(spec.to_xml(), xml)
 
   def test_kwarg(self):
     # Create a spec.