mani_skill.utils.building.urdf_loader#

Classes#

ParsedURDFData

dict() -> new empty dictionary

URDFLoader

Module Contents#

class mani_skill.utils.building.urdf_loader.ParsedURDFData[source]#

Bases: 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)

actor_builders: list[mani_skill.utils.building.actor_builder.ActorBuilder][source]#
articulation_builders: list[mani_skill.utils.building.articulation_builder.ArticulationBuilder][source]#
cameras: list[Any][source]#
class mani_skill.utils.building.urdf_loader.URDFLoader[source]#

Bases: sapien.wrapper.urdf_loader.URDFLoader

load(urdf_file, srdf_file=None, package_dir=None, name=None, scene_idxs=None)[source]#
Parameters:

  • urdf_file (str) – filename for URDL file

  • srdf_file – SRDF for urdf_file. If srdf_file is None, it defaults to the “.srdf” file with the same as the urdf file

  • 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

  • name (str) – name of the created articulation

  • scene_idxs (list[int]) – the ids of the scenes to build the objects in

Returns:

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

Return type:

mani_skill.utils.structs.articulation.Articulation

load_file_as_articulation_builder(urdf_file, srdf_file=None, package_dir=None)[source]#
Return type:

mani_skill.utils.building.articulation_builder.ArticulationBuilder

parse(urdf_file, srdf_file=None, package_dir=None)[source]#
Return type:

ParsedURDFData

disable_self_collisions: bool = False[source]#
name: str = None[source]#
scene: mani_skill.envs.scene.ManiSkillScene[source]#