`rofunc.utils.robolab.formatter.mjcf_parser.schema`#

A Python object representation of Mujoco’s MJCF schema.

The root schema is provided as a module-level constant schema.MUJOCO.

1. Module Contents#

`parse_schema`	Parses the schema XML.
`collect_namespaces`	Constructs a set of namespaces in a given ElementSpec.
`override_schema`	Override the schema with a custom xml.

rofunc.utils.robolab.formatter.mjcf_parser.schema.parse_schema(schema_path)[source]#

Parses the schema XML.

rofunc.utils.robolab.formatter.mjcf_parser.schema.collect_namespaces(root_spec)[source]#

Constructs a set of namespaces in a given ElementSpec.

Args:: root_spec: An ElementSpec for the root element in the schema.
Returns:: A set of strings specifying the names of all the namespaces that are present in the spec.

rofunc.utils.robolab.formatter.mjcf_parser.schema.FINDABLE_NAMESPACES = None#

rofunc.utils.robolab.formatter.mjcf_parser.schema.WORLD_ATTACHMENT_FRAME = None#

rofunc.utils.robolab.formatter.mjcf_parser.schema.override_schema(schema_xml_path)[source]#

Override the schema with a custom xml.

This method updates several global variables and care should be taken not to call it if the pre-update values have already been used.