rofunc.utils.robolab.formatter.mjcf#

1.  Module Contents#

1.1.  Functions#

get_body_geoms

body_to_link

joint_to_joint

add_composite_joint

build_chain_from_mjcf

Build a Chain object from MJCF data.

build_serial_chain_from_mjcf

Build a SerialChain object from MJCF data.

1.2.  Data#

JOINT_TYPE_MAP

1.3.  API#

rofunc.utils.robolab.formatter.mjcf.JOINT_TYPE_MAP = None#
rofunc.utils.robolab.formatter.mjcf.get_body_geoms(m: mujoco.MjModel, body: mujoco._structs._MjModelBodyViews, base: Optional[pytorch_kinematics.transforms.Transform3d] = None)[source]#
rofunc.utils.robolab.formatter.mjcf.joint_to_joint(joint, base: Optional[pytorch_kinematics.transforms.Transform3d] = None)[source]#
rofunc.utils.robolab.formatter.mjcf.add_composite_joint(root_frame, joints, base: Optional[pytorch_kinematics.transforms.Transform3d] = None)[source]#
rofunc.utils.robolab.formatter.mjcf.build_chain_from_mjcf(data, body: Union[None, str, int] = None)[source]#

Build a Chain object from MJCF data.

Parameters:

  • data – MJCF string data

  • body – the name or index of the body to use as the root of the chain. If None, body idx=0 is used.

Returns:

Chain object created from MJCF

rofunc.utils.robolab.formatter.mjcf.build_serial_chain_from_mjcf(data, end_link_name, root_link_name='')[source]#

Build a SerialChain object from MJCF data.

Parameters:

  • data – MJCF string data

  • end_link_name – the name of the link that is the end effector

  • root_link_name – the name of the root link

Returns:

SerialChain object created from MJCF