mani_skill.utils.building.mjcf_loader
=====================================

.. py:module:: mani_skill.utils.building.mjcf_loader


Classes
-------

.. autoapisummary::

   mani_skill.utils.building.mjcf_loader.MJCFLoader
   mani_skill.utils.building.mjcf_loader.ParsedMJCFData


Module Contents
---------------

.. py:class:: MJCFLoader(ignore_classes=['motor'], visual_groups=[0, 2])

   Bases: :py:obj:`mani_skill.utils.building._mjcf_loader.MJCFLoader`


   Wrapper for the SAPIEN MJCF Loader to support easy parallelization


   .. py:method:: load(mjcf_file, package_dir=None, name=None, scene_idxs=None)

      :param urdf_file: filename for URDL file
      :param srdf_file: SRDF for urdf_file. If srdf_file is None, it defaults to the ".srdf" file with the same as the urdf file
      :param package_dir: base directory used to resolve asset files in the URDF file. If an asset path starts with "package://", "package://" is simply removed from the file name
      :param name: name of the created articulation
      :type name: str
      :param scene_idxs: the ids of the scenes to build the objects in
      :type scene_idxs: list[int]

      :returns: returns a single Articulation loaded from the URDF file. It throws an error if multiple objects exists



   .. py:method:: parse(mjcf_file, package_dir=None)

      Parses a given MJCF file into articulation builders and actor builders and sensor configs



   .. py:attribute:: disable_self_collisions
      :type:  bool
      :value: False



   .. py:attribute:: name
      :type:  str
      :value: None



   .. py:attribute:: scene
      :type:  mani_skill.envs.scene.ManiSkillScene


.. py:class:: ParsedMJCFData

   Bases: :py:obj:`TypedDict`


   dict() -> new empty dictionary
   dict(mapping) -> new dictionary initialized from a mapping object's
       (key, value) pairs
   dict(iterable) -> new dictionary initialized as if via:
       d = {}
       for k, v in iterable:
           d[k] = v
   dict(**kwargs) -> new dictionary initialized with the name=value pairs
       in the keyword argument list.  For example:  dict(one=1, two=2)


   .. py:attribute:: actor_builders
      :type:  list[mani_skill.utils.building.actor_builder.ActorBuilder]


   .. py:attribute:: articulation_builders
      :type:  list[mani_skill.utils.building.articulation_builder.ArticulationBuilder]


   .. py:attribute:: cameras
      :type:  list[Any]