rofunc.utils.robolab.formatter.mjcf_parser.parser#

Functions for parsing XML into an MJCF object model.

1.  Module Contents#

1.1.  Functions#

from_xml_string

Parses an XML string into an MJCF object model.

from_file

Parses an XML file into an MJCF object model.

from_path

Parses an XML file into an MJCF object model.

1.2.  API#

rofunc.utils.robolab.formatter.mjcf_parser.parser.from_xml_string(xml_string, escape_separators=False, model_dir='', resolve_references=True, assets=None)[source]#

Parses an XML string into an MJCF object model.

Args:

xml_string: An XML string representing an MJCF model. escape_separators: (optional) A boolean, whether to replace ‘/’ characters

in element identifiers. If False, any ‘/’ present in the XML causes a ValueError to be raised.

model_dir: (optional) Path to the directory containing the model XML file.

This is used to prefix the paths of all asset files.

resolve_references: (optional) A boolean indicating whether the parser

should attempt to resolve reference attributes to a corresponding element.

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.

Returns:

An mjcf.RootElement.

rofunc.utils.robolab.formatter.mjcf_parser.parser.from_file(file_handle, escape_separators=False, model_dir='', resolve_references=True, assets=None)[source]#

Parses an XML file into an MJCF object model.

Args:

file_handle: A Python file-like handle. escape_separators: (optional) A boolean, whether to replace ‘/’ characters

in element identifiers. If False, any ‘/’ present in the XML causes a ValueError to be raised.

model_dir: (optional) Path to the directory containing the model XML file.

This is used to prefix the paths of all asset files.

resolve_references: (optional) A boolean indicating whether the parser

should attempt to resolve reference attributes to a corresponding element.

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.

Returns:

An mjcf.RootElement.

rofunc.utils.robolab.formatter.mjcf_parser.parser.from_path(path, escape_separators=False, resolve_references=True, assets=None)[source]#

Parses an XML file into an MJCF object model.

Args:
path: A path to an XML file. This path should be loadable using

resources.GetResource.

escape_separators: (optional) A boolean, whether to replace ‘/’ characters

in element identifiers. If False, any ‘/’ present in the XML causes a ValueError to be raised.

resolve_references: (optional) A boolean indicating whether the parser

should attempt to resolve reference attributes to a corresponding element.

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.

Returns:

An mjcf.RootElement.