What does "include" do?

[LH-and-FPGA]

Intro

Hi!

I am an undergrad student at Imperial College London, I use MuJoCo for my research on robot arm. While going through the Python API, I found that in specs.cc, the member function from_file of MjSpec has an include parameter, but I’m not sure how to use it. Thanks.

mjSpec.def_static(
    "from_file",
    [](std::string& filename,
       std::optional<std::unordered_map<std::string, py::bytes>>& include,
       std::optional<py::dict>& assets) -> MjSpec {
      const auto files = _impl::ConvertAssetsDict(include);
      raw::MjSpec* spec;
      {
        py::gil_scoped_release no_gil;
        char error[1024];
        spec = LoadSpecFileImpl(
            filename, files,
            [&error](const char* filename, const mjVFS* vfs) {
              return InterceptMjErrors(mj_parseXML)(
                  filename, vfs, error, sizeof(error));
            });
        if (!spec) {
          throw py::value_error(error);
        }
      }
      if (assets.has_value()) {
        return MjSpec(spec, assets.value());
      }
      return MjSpec(spec);
    },
    py::arg("filename"), py::arg("include") = py::none(),
    py::arg("assets") = py::none(), R"mydelimiter(
  Creates a spec from an XML file.

  Parameters
  ----------
  filename : str
      Path to the XML file.
  include : dict, optional
      A dictionary of xml files included by the model. The keys are file names
      and the values are file contents.
  assets : dict, optional
      A dictionary of assets to be used by the spec. The keys are asset names
      and the values are asset contents.
)mydelimiter",
    py::return_value_policy::move);

My setup

MuJoCo Python

My question

No response

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.