rofunc.utils.robolab.formatter.mjcf_parser.traversal_utils#

Utility functions that operate on MJCF elements.

1.  Module Contents#

1.1.  Functions#

get_freejoint

Retrieves the free joint of a body. Returns None if there isn’t one.

get_attachment_frame

get_frame_freejoint

get_frame_joints

Retrieves all joints belonging to the attachment frame of an MJCF model.

commit_defaults

Commits default values into attributes of the specified element.

1.2.  API#

rofunc.utils.robolab.formatter.mjcf_parser.traversal_utils.get_freejoint(element)[source]#

Retrieves the free joint of a body. Returns None if there isn’t one.

rofunc.utils.robolab.formatter.mjcf_parser.traversal_utils.get_attachment_frame(mjcf_model)[source]#
rofunc.utils.robolab.formatter.mjcf_parser.traversal_utils.get_frame_freejoint(mjcf_model)[source]#
rofunc.utils.robolab.formatter.mjcf_parser.traversal_utils.get_frame_joints(mjcf_model)[source]#

Retrieves all joints belonging to the attachment frame of an MJCF model.

rofunc.utils.robolab.formatter.mjcf_parser.traversal_utils.commit_defaults(element, attributes=None)[source]#

Commits default values into attributes of the specified element.

Args:

element: A PyMJCF element. attributes: (optional) A list of strings specifying the attributes to be

copied from defaults, or None if all attributes should be copied.