Merge pull request #156 from Andrew-Luo1:rscope

copybara-github · copybara-github · commit 60cf8430011d · 2025-06-30T15:35:00.000-07:00
PiperOrigin-RevId: 777744280
Change-Id: I5acbb1c47ed108568244281fe856c1d0e3c0d473
diff --git a/mujoco_playground/_src/dm_control_suite/acrobot.py b/mujoco_playground/_src/dm_control_suite/acrobot.py
@@ -57,8 +57,9 @@ def __init__(
     self._margin = 0.0 if sparse else 1.0
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/ball_in_cup.py b/mujoco_playground/_src/dm_control_suite/ball_in_cup.py
@@ -53,8 +53,9 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/cheetah.py b/mujoco_playground/_src/dm_control_suite/cheetah.py
@@ -56,8 +56,9 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/finger.py b/mujoco_playground/_src/dm_control_suite/finger.py
@@ -52,9 +52,9 @@ def default_config() -> config_dict.ConfigDict:
 
 
 def _make_turn_model(
-    xml_path: epath.Path, target_radius: float
+    xml_path: epath.Path, target_radius: float, assets: Dict[str, Any]
 ) -> mujoco.MjModel:
-  spec = mujoco.MjSpec.from_string(xml_path.read_text(), common.get_assets())
+  spec = mujoco.MjSpec.from_string(xml_path.read_text(), assets)
   target_site = None
   for site in spec.sites:
     if site.name == "target":
@@ -65,10 +65,10 @@ def _make_turn_model(
   return spec.compile()
 
 
-def _make_spin_model(xml_path: epath.Path) -> mujoco.MjModel:
-  model = mujoco.MjModel.from_xml_string(
-      xml_path.read_text(), common.get_assets()
-  )
+def _make_spin_model(
+    xml_path: epath.Path, assets: Dict[str, Any]
+) -> mujoco.MjModel:
+  model = mujoco.MjModel.from_xml_string(xml_path.read_text(), assets)
   model.site_rgba[model.site("target").id, 3] = 0
   model.site_rgba[model.site("tip").id, 3] = 0
   model.dof_damping[model.joint("hinge").id] = 0.03
@@ -90,7 +90,8 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
-    self._mj_model = _make_spin_model(_XML_PATH)
+    self._model_assets = common.get_assets()
+    self._mj_model = _make_spin_model(_XML_PATH, self._model_assets)
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
     self._post_init()
@@ -214,7 +215,10 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
-    self._mj_model = _make_turn_model(_XML_PATH, target_radius)
+    self._model_assets = common.get_assets()
+    self._mj_model = _make_turn_model(
+        _XML_PATH, target_radius, self._model_assets
+    )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
     self._post_init()
diff --git a/mujoco_playground/_src/dm_control_suite/fish.py b/mujoco_playground/_src/dm_control_suite/fish.py
@@ -64,8 +64,9 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/hopper.py b/mujoco_playground/_src/dm_control_suite/hopper.py
@@ -73,8 +73,9 @@ def __init__(
       ]
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/humanoid.py b/mujoco_playground/_src/dm_control_suite/humanoid.py
@@ -67,8 +67,9 @@ def __init__(
       self._stand_or_move_reward = self._move_reward
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/pendulum.py b/mujoco_playground/_src/dm_control_suite/pendulum.py
@@ -57,8 +57,9 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/point_mass.py b/mujoco_playground/_src/dm_control_suite/point_mass.py
@@ -54,8 +54,9 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/reacher.py b/mujoco_playground/_src/dm_control_suite/reacher.py
@@ -42,8 +42,10 @@ def default_config() -> config_dict.ConfigDict:
   )
 
 
-def _make_model(xml_path: epath.Path, target_size: float) -> mujoco.MjModel:
-  spec = mujoco.MjSpec.from_string(xml_path.read_text(), common.get_assets())
+def _make_model(
+    xml_path: epath.Path, target_size: float, assets: Dict[str, Any]
+) -> mujoco.MjModel:
+  spec = mujoco.MjSpec.from_string(xml_path.read_text(), assets)
   if mujoco.__version__ >= "3.3.0":
     target_body = spec.body("target")
   else:
@@ -70,7 +72,8 @@ def __init__(
 
     self._target_size = target_size
     self._xml_path = _XML_PATH.as_posix()
-    self._mj_model = _make_model(_XML_PATH, target_size)
+    self._model_assets = common.get_assets()
+    self._mj_model = _make_model(_XML_PATH, target_size, self._model_assets)
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
     self._post_init()
diff --git a/mujoco_playground/_src/dm_control_suite/swimmer.py b/mujoco_playground/_src/dm_control_suite/swimmer.py
@@ -125,8 +125,9 @@ def __init__(
       )
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _make_model(self.xml_path, n_links), common.get_assets()
+        _make_model(self.xml_path, n_links), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/dm_control_suite/walker.py b/mujoco_playground/_src/dm_control_suite/walker.py
@@ -67,8 +67,9 @@ def __init__(
       self._get_reward = self._get_move_reward
 
     self._xml_path = _XML_PATH.as_posix()
+    self._model_assets = common.get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        _XML_PATH.read_text(), common.get_assets()
+        _XML_PATH.read_text(), self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
     self._mjx_model = mjx.put_model(self._mj_model)
diff --git a/mujoco_playground/_src/locomotion/apollo/base.py b/mujoco_playground/_src/locomotion/apollo/base.py
@@ -16,17 +16,17 @@
 
 from typing import Any, Dict, Optional, Union
 
+from etils import epath
 import jax
 import jax.numpy as jp
-import mujoco
-import numpy as np
-from etils import epath
 from ml_collections import config_dict
+import mujoco
 from mujoco import mjx
+import numpy as np
 
 from mujoco_playground._src import mjx_env
-from mujoco_playground._src.locomotion.apollo import constants as consts
 from mujoco_playground._src.collision import geoms_colliding
+from mujoco_playground._src.locomotion.apollo import constants as consts
 
 
 def get_assets() -> Dict[str, bytes]:
@@ -46,15 +46,16 @@ class ApolloEnv(mjx_env.MjxEnv):
   """Base class for Apollo environments."""
 
   def __init__(
-    self,
-    xml_path: str,
-    config: config_dict.ConfigDict,
-    config_overrides: Optional[Dict[str, Union[str, int, list[Any]]]] = None,
+      self,
+      xml_path: str,
+      config: config_dict.ConfigDict,
+      config_overrides: Optional[Dict[str, Union[str, int, list[Any]]]] = None,
   ) -> None:
     super().__init__(config, config_overrides)
 
+    self._model_assets = get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-      epath.Path(xml_path).read_text(), assets=get_assets()
+        epath.Path(xml_path).read_text(), assets=self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
 
@@ -66,7 +67,9 @@ def __init__(
 
     self._init_q = jp.array(self._mj_model.keyframe("knees_bent").qpos)
     self._default_ctrl = jp.array(self._mj_model.keyframe("knees_bent").ctrl)
-    self._default_pose = jp.array(self._mj_model.keyframe("knees_bent").qpos[7:])
+    self._default_pose = jp.array(
+        self._mj_model.keyframe("knees_bent").qpos[7:]
+    )
     self._actuator_torques = self.mj_model.jnt_actfrcrange[1:, 1]
 
     # Body IDs.
@@ -75,52 +78,64 @@ def __init__(
     # Geom IDs.
     self._floor_geom_id = self._mj_model.geom("floor").id
     self._left_feet_geom_id = np.array(
-      [self._mj_model.geom(name).id for name in consts.LEFT_FEET_GEOMS]
+        [self._mj_model.geom(name).id for name in consts.LEFT_FEET_GEOMS]
     )
     self._right_feet_geom_id = np.array(
-      [self._mj_model.geom(name).id for name in consts.RIGHT_FEET_GEOMS]
+        [self._mj_model.geom(name).id for name in consts.RIGHT_FEET_GEOMS]
     )
     self._left_hand_geom_id = self._mj_model.geom("collision_l_hand_plate").id
     self._right_hand_geom_id = self._mj_model.geom("collision_r_hand_plate").id
     self._left_foot_geom_id = self._mj_model.geom("collision_l_sole").id
     self._right_foot_geom_id = self._mj_model.geom("collision_r_sole").id
-    self._left_shin_geom_id = self._mj_model.geom("collision_capsule_body_l_shin").id
-    self._right_shin_geom_id = self._mj_model.geom("collision_capsule_body_r_shin").id
-    self._left_thigh_geom_id = self._mj_model.geom("collision_capsule_body_l_thigh").id
-    self._right_thigh_geom_id = self._mj_model.geom("collision_capsule_body_r_thigh").id
+    self._left_shin_geom_id = self._mj_model.geom(
+        "collision_capsule_body_l_shin"
+    ).id
+    self._right_shin_geom_id = self._mj_model.geom(
+        "collision_capsule_body_r_shin"
+    ).id
+    self._left_thigh_geom_id = self._mj_model.geom(
+        "collision_capsule_body_l_thigh"
+    ).id
+    self._right_thigh_geom_id = self._mj_model.geom(
+        "collision_capsule_body_r_thigh"
+    ).id
 
     # Site IDs.
     self._imu_site_id = self._mj_model.site("imu").id
     self._feet_site_id = np.array(
-      [self._mj_model.site(name).id for name in consts.FEET_SITES]
+        [self._mj_model.site(name).id for name in consts.FEET_SITES]
     )
 
   # Sensor readings.
 
   def get_gravity(self, data: mjx.Data) -> jax.Array:
     """Return the gravity vector in the world frame."""
-    return mjx_env.get_sensor_data(self.mj_model, data, f"{consts.GRAVITY_SENSOR}")
+    return mjx_env.get_sensor_data(
+        self.mj_model, data, f"{consts.GRAVITY_SENSOR}"
+    )
 
   def get_global_linvel(self, data: mjx.Data) -> jax.Array:
     """Return the linear velocity of the robot in the world frame."""
     return mjx_env.get_sensor_data(
-      self.mj_model, data, f"{consts.GLOBAL_LINVEL_SENSOR}"
+        self.mj_model, data, f"{consts.GLOBAL_LINVEL_SENSOR}"
     )
 
   def get_global_angvel(self, data: mjx.Data) -> jax.Array:
     """Return the angular velocity of the robot in the world frame."""
     return mjx_env.get_sensor_data(
-      self.mj_model, data, f"{consts.GLOBAL_ANGVEL_SENSOR}"
+        self.mj_model, data, f"{consts.GLOBAL_ANGVEL_SENSOR}"
     )
 
   def get_local_linvel(self, data: mjx.Data) -> jax.Array:
     """Return the linear velocity of the robot in the local frame."""
-    return mjx_env.get_sensor_data(self.mj_model, data, f"{consts.LOCAL_LINVEL_SENSOR}")
+    return mjx_env.get_sensor_data(
+        self.mj_model, data, f"{consts.LOCAL_LINVEL_SENSOR}"
+    )
 
   def get_accelerometer(self, data: mjx.Data) -> jax.Array:
     """Return the accelerometer readings in the local frame."""
     return mjx_env.get_sensor_data(
-      self.mj_model, data, f"{consts.ACCELEROMETER_SENSOR}"
+        self.mj_model, data, f"{consts.ACCELEROMETER_SENSOR}"
     )
 
   def get_gyro(self, data: mjx.Data) -> jax.Array:
@@ -129,18 +144,14 @@ def get_gyro(self, data: mjx.Data) -> jax.Array:
 
   def get_feet_ground_contacts(self, data: mjx.Data) -> jax.Array:
     """Return an array indicating whether each foot is in contact with the ground."""
-    left_feet_contact = jp.array(
-      [
+    left_feet_contact = jp.array([
         geoms_colliding(data, geom_id, self._floor_geom_id)
         for geom_id in self._left_feet_geom_id
-      ]
-    )
-    right_feet_contact = jp.array(
-      [
+    ])
+    right_feet_contact = jp.array([
         geoms_colliding(data, geom_id, self._floor_geom_id)
         for geom_id in self._right_feet_geom_id
-      ]
-    )
+    ])
     return jp.hstack([jp.any(left_feet_contact), jp.any(right_feet_contact)])
 
   # Accessors.
diff --git a/mujoco_playground/_src/locomotion/barkour/joystick.py b/mujoco_playground/_src/locomotion/barkour/joystick.py
@@ -117,7 +117,8 @@ def __init__(
     xml_path = mjx_env.MENAGERIE_PATH / "google_barkour_vb" / "scene_mjx.xml"
     self._xml_path = xml_path.as_posix()
     xml = epath.Path(xml_path).read_text()
-    mj_model = mujoco.MjModel.from_xml_string(xml, assets=get_assets())
+    self._model_assets = get_assets()
+    mj_model = mujoco.MjModel.from_xml_string(xml, assets=self._model_assets)
     mj_model.vis.global_.offwidth = 3840
     mj_model.vis.global_.offheight = 2160
     mj_model.dof_damping[6:] = 0.5239
@@ -451,7 +452,7 @@ def get_xfrc(
 
   @property
   def xml_path(self) -> str:
-    raise self._xml_path
+    return self._xml_path
 
   @property
   def action_size(self) -> int:
diff --git a/mujoco_playground/_src/locomotion/berkeley_humanoid/base.py b/mujoco_playground/_src/locomotion/berkeley_humanoid/base.py
@@ -48,8 +48,9 @@ def __init__(
   ) -> None:
     super().__init__(config, config_overrides)
 
+    self._model_assets = get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        epath.Path(xml_path).read_text(), assets=get_assets()
+        epath.Path(xml_path).read_text(), assets=self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
 
diff --git a/mujoco_playground/_src/locomotion/g1/base.py b/mujoco_playground/_src/locomotion/g1/base.py
@@ -47,8 +47,9 @@ def __init__(
   ) -> None:
     super().__init__(config, config_overrides)
 
+    self._model_assets = get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        epath.Path(xml_path).read_text(), assets=get_assets()
+        epath.Path(xml_path).read_text(), assets=self._model_assets
     )
     self._mj_model.opt.timestep = self.sim_dt
 
diff --git a/mujoco_playground/_src/locomotion/go1/base.py b/mujoco_playground/_src/locomotion/go1/base.py
@@ -48,8 +48,9 @@ def __init__(
   ) -> None:
     super().__init__(config, config_overrides)
 
+    self._model_assets = get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        epath.Path(xml_path).read_text(), assets=get_assets()
+        epath.Path(xml_path).read_text(), assets=self._model_assets
     )
     self._mj_model.opt.timestep = self._config.sim_dt
 
diff --git a/mujoco_playground/_src/locomotion/h1/base.py b/mujoco_playground/_src/locomotion/h1/base.py
@@ -46,8 +46,9 @@ def __init__(
   ) -> None:
     super().__init__(config, config_overrides)
 
+    self._model_assets = get_assets()
     self._mj_model = mujoco.MjModel.from_xml_string(
-        epath.Path(xml_path).read_text(), assets=get_assets()
+        epath.Path(xml_path).read_text(), assets=self._model_assets
     )
     self._mj_model.opt.timestep = self._config.sim_dt
 
diff --git a/mujoco_playground/_src/locomotion/op3/base.py b/mujoco_playground/_src/locomotion/op3/base.py
diff --git a/mujoco_playground/_src/locomotion/spot/base.py b/mujoco_playground/_src/locomotion/spot/base.py
diff --git a/mujoco_playground/_src/locomotion/t1/base.py b/mujoco_playground/_src/locomotion/t1/base.py
diff --git a/mujoco_playground/_src/manipulation/aloha/base.py b/mujoco_playground/_src/manipulation/aloha/base.py
diff --git a/mujoco_playground/_src/manipulation/franka_emika_panda/pick_cartesian.py b/mujoco_playground/_src/manipulation/franka_emika_panda/pick_cartesian.py
diff --git a/mujoco_playground/_src/manipulation/franka_emika_panda_robotiq/panda_robotiq.py b/mujoco_playground/_src/manipulation/franka_emika_panda_robotiq/panda_robotiq.py
diff --git a/mujoco_playground/_src/manipulation/leap_hand/base.py b/mujoco_playground/_src/manipulation/leap_hand/base.py
diff --git a/mujoco_playground/_src/mjx_env.py b/mujoco_playground/_src/mjx_env.py

Original file line number	Diff line number	Diff line change
`@@ -53,8 +53,9 @@ def __init__(`
`53`	`53`	`)`
`54`	`54`
`55`	`55`	`self._xml_path = _XML_PATH.as_posix()`
	`56`	`+ self._model_assets = common.get_assets()`
`56`	`57`	`self._mj_model = mujoco.MjModel.from_xml_string(`
`57`		`- _XML_PATH.read_text(), common.get_assets()`
	`58`	`+ _XML_PATH.read_text(), self._model_assets`
`58`	`59`	`)`
`59`	`60`	`self._mj_model.opt.timestep = self.sim_dt`
`60`	`61`	`self._mjx_model = mjx.put_model(self._mj_model)`
Original file line number	Diff line number	Diff line change
`@@ -56,8 +56,9 @@ def __init__(`
`56`	`56`	`)`
`57`	`57`
`58`	`58`	`self._xml_path = _XML_PATH.as_posix()`
	`59`	`+ self._model_assets = common.get_assets()`
`59`	`60`	`self._mj_model = mujoco.MjModel.from_xml_string(`
`60`		`- _XML_PATH.read_text(), common.get_assets()`
	`61`	`+ _XML_PATH.read_text(), self._model_assets`
`61`	`62`	`)`
`62`	`63`	`self._mj_model.opt.timestep = self.sim_dt`
`63`	`64`	`self._mjx_model = mjx.put_model(self._mj_model)`
Original file line number	Diff line number	Diff line change
`@@ -64,8 +64,9 @@ def __init__(`
`64`	`64`	`)`
`65`	`65`
`66`	`66`	`self._xml_path = _XML_PATH.as_posix()`
	`67`	`+ self._model_assets = common.get_assets()`
`67`	`68`	`self._mj_model = mujoco.MjModel.from_xml_string(`
`68`		`- _XML_PATH.read_text(), common.get_assets()`
	`69`	`+ _XML_PATH.read_text(), self._model_assets`
`69`	`70`	`)`
`70`	`71`	`self._mj_model.opt.timestep = self.sim_dt`
`71`	`72`	`self._mjx_model = mjx.put_model(self._mj_model)`
Original file line number	Diff line number	Diff line change
`@@ -73,8 +73,9 @@ def __init__(`
`73`	`73`	`]`
`74`	`74`
`75`	`75`	`self._xml_path = _XML_PATH.as_posix()`
	`76`	`+ self._model_assets = common.get_assets()`
`76`	`77`	`self._mj_model = mujoco.MjModel.from_xml_string(`
`77`		`- _XML_PATH.read_text(), common.get_assets()`
	`78`	`+ _XML_PATH.read_text(), self._model_assets`
`78`	`79`	`)`
`79`	`80`	`self._mj_model.opt.timestep = self.sim_dt`
`80`	`81`	`self._mjx_model = mjx.put_model(self._mj_model)`
Original file line number	Diff line number	Diff line change
`@@ -57,8 +57,9 @@ def __init__(`
`57`	`57`	`)`
`58`	`58`
`59`	`59`	`self._xml_path = _XML_PATH.as_posix()`
	`60`	`+ self._model_assets = common.get_assets()`
`60`	`61`	`self._mj_model = mujoco.MjModel.from_xml_string(`
`61`		`- _XML_PATH.read_text(), common.get_assets()`
	`62`	`+ _XML_PATH.read_text(), self._model_assets`
`62`	`63`	`)`
`63`	`64`	`self._mj_model.opt.timestep = self.sim_dt`
`64`	`65`	`self._mjx_model = mjx.put_model(self._mj_model)`
Original file line number	Diff line number	Diff line change
`@@ -54,8 +54,9 @@ def __init__(`
`54`	`54`	`)`
`55`	`55`
`56`	`56`	`self._xml_path = _XML_PATH.as_posix()`
	`57`	`+ self._model_assets = common.get_assets()`
`57`	`58`	`self._mj_model = mujoco.MjModel.from_xml_string(`
`58`		`- _XML_PATH.read_text(), common.get_assets()`
	`59`	`+ _XML_PATH.read_text(), self._model_assets`
`59`	`60`	`)`
`60`	`61`	`self._mj_model.opt.timestep = self.sim_dt`
`61`	`62`	`self._mjx_model = mjx.put_model(self._mj_model)`