rofunc.utils.robolab.formatter.mjcf_parser.export_with_assets#

Saves Mujoco models with relevant assets.

1.  Module Contents#

1.1.  Functions#

export_with_assets

Saves mjcf.model in the given directory in MJCF (XML) format.

1.2.  API#

rofunc.utils.robolab.formatter.mjcf_parser.export_with_assets.export_with_assets(mjcf_model, out_dir, out_file_name=None, *, precision=constants.XML_DEFAULT_PRECISION, zero_threshold=0)[source]#

Saves mjcf.model in the given directory in MJCF (XML) format.

Creates an MJCF XML file named out_file_name in the specified out_dir, and writes all of its assets into the same directory.

Args:

mjcf_model: mjcf.RootElement instance to export. out_dir: Directory to save the model and assets. Will be created if it does

not already exist.

out_file_name: (Optional) Name of the XML file to create. Defaults to the

model name (mjcf_model.model) suffixed with ‘.xml’.

precision: (optional) Number of digits to output for floating point

quantities.

zero_threshold: (optional) When outputting XML, floating point quantities

whose absolute value falls below this threshold will be treated as zero.

Raises:

ValueError: If out_file_name is a string that does not end with ‘.xml’.