newton.utils.parse_mjcf#

class newton.utils.parse_mjcf(mjcf_filename, builder, xform=None, floating=None, base_joint=None, armature_scale=1.0, scale=1.0, hide_visuals=False, parse_visuals_as_colliders=False, parse_meshes=True, up_axis=Axis.Z, ignore_names=(), ignore_classes=(), visual_classes=('visual',), collider_classes=('collision',), no_class_as_colliders=True, force_show_colliders=False, enable_self_collisions=False, ignore_inertial_definitions=True, ensure_nonstatic_links=True, static_link_mass=1e-2, collapse_fixed_joints=False, verbose=False)#

Parses MuJoCo XML (MJCF) file and adds the bodies and joints to the given ModelBuilder.

Parameters:

  • mjcf_filename (str) – The filename of the MuJoCo file to parse.

  • builder (ModelBuilder) – The ModelBuilder to add the bodies and joints to.

  • xform (Transform) – The transform to apply to the imported mechanism.

  • floating (bool) – If True, the articulation is treated as a floating base. If False, the articulation is treated as a fixed base. If None, the articulation is treated as a floating base if a free joint is found in the MJCF, otherwise it is treated as a fixed base.

  • base_joint (Union[str, dict]) – The joint by which the root body is connected to the world. This can be either a string defining the joint axes of a D6 joint with comma-separated positional and angular axis names (e.g. “px,py,rz” for a D6 joint with linear axes in x, y and an angular axis in z) or a dict with joint parameters (see ModelBuilder.add_joint()).

  • armature_scale (float) – Scaling factor to apply to the MJCF-defined joint armature values.

  • scale (float) – The scaling factor to apply to the imported mechanism.

  • hide_visuals (bool) – If True, hide visual shapes.

  • parse_visuals_as_colliders (bool) – If True, the geometry defined under the visual_classes tags is used for collision handling instead of the collider_classes geometries.

  • parse_meshes (bool) – Whether geometries of type “mesh” should be parsed. If False, geometries of type “mesh” are ignored.

  • up_axis (AxisType) – The up axis of the MuJoCo scene. The default is Z up.

  • ignore_names (Sequence[str]) – A list of regular expressions. Bodies and joints with a name matching one of the regular expressions will be ignored.

  • ignore_classes (Sequence[str]) – A list of regular expressions. Bodies and joints with a class matching one of the regular expressions will be ignored.

  • visual_classes (Sequence[str]) – A list of regular expressions. Visual geometries with a class matching one of the regular expressions will be parsed.

  • collider_classes (Sequence[str]) – A list of regular expressions. Collision geometries with a class matching one of the regular expressions will be parsed.

  • no_class_as_colliders (bool) – If True, geometries without a class are parsed as collision geometries. If False, geometries without a class are parsed as visual geometries.

  • force_show_colliders (bool) – If True, the collision shapes are always shown, even if there are visual shapes.

  • enable_self_collisions (bool) – If True, self-collisions are enabled.

  • ignore_inertial_definitions (bool) – If True, the inertial parameters defined in the MJCF are ignored and the inertia is calculated from the shape geometry.

  • ensure_nonstatic_links (bool) – If True, links with zero mass are given a small mass (see static_link_mass) to ensure they are dynamic.

  • static_link_mass (float) – The mass to assign to links with zero mass (if ensure_nonstatic_links is set to True).

  • collapse_fixed_joints (bool) – If True, fixed joints are removed and the respective bodies are merged.

  • verbose (bool) – If True, print additional information about parsing the MJCF.

__init__(**kwargs)#