From 02986a8d04d9033838421975c7c3714ac009db51 Mon Sep 17 00:00:00 2001
From: Guy Azran <guy.azran@campus.technion.ac.il>
Date: Sat, 5 Aug 2023 23:00:09 +0300
Subject: [PATCH] PyMJCF nested include tags relative to base model

---
 dm_control/mjcf/parser.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/dm_control/mjcf/parser.py b/dm_control/mjcf/parser.py
index c710f179..b9592060 100644
--- a/dm_control/mjcf/parser.py
+++ b/dm_control/mjcf/parser.py
@@ -80,7 +80,7 @@ def from_file(file_handle, escape_separators=False,
 
 
 def from_path(path, escape_separators=False, resolve_references=True,
-              assets=None):
+              assets=None, model_dir=None):
   """Parses an XML file into an MJCF object model.
 
   Args:
@@ -94,11 +94,14 @@ def from_path(path, escape_separators=False, resolve_references=True,
     assets: (optional) A dictionary of pre-loaded assets, of the form
       `{filename: bytestring}`. If present, PyMJCF will search for assets in
       this dictionary before attempting to load them from the filesystem.
+    model_dir: (optional) Path to the directory containing the model XML file.
+      This is used to prefix the paths of all asset files.
 
   Returns:
     An `mjcf.RootElement`.
   """
-  model_dir, _ = os.path.split(path)
+  if model_dir is None:
+    model_dir, _ = os.path.split(path)
   contents = resources.GetResource(path)
   xml_root = etree.fromstring(contents)
   return _parse(xml_root, escape_separators,
@@ -153,7 +156,7 @@ def _parse(xml_root, escape_separators=False,
           path_or_xml_string,
           escape_separators=escape_separators,
           resolve_references=resolve_references,
-          assets=assets)
+          assets=assets, model_dir=model_dir)
       to_include.append(included_mjcf)
       # We must remove <include/> tags before parsing the main XML file, since
       # these are a schema violation.