unisim.backend.genesis.materialization.GenesisModelMetadata

class unisim.backend.genesis.materialization.GenesisModelMetadata[source]

Bases: object

MJCF metadata scanned once on the cold path (never on hot paths).

Parameters:

Methods

__init__(source_model_file, cleanup_handle, ...)

Attributes

source_model_file

cleanup_handle

nq

nv

nbody

root_qpos_dim

root_qvel_dim

joint_names

joint_qpos_adrs

joint_dof_adrs

body_names

actuator_names

actuator_joint_names

actuator_ctrl_range

actuator_kp

actuator_kv

keyframe_qpos

default_qpos

joint_range

dof_armature

gravity

body_mass

body_ipos

sensor_plans

source_model_file: str
cleanup_handle: Any | None
nq: int
nv: int
nbody: int
root_qpos_dim: int
root_qvel_dim: int
joint_names: tuple[str, ...]
joint_qpos_adrs: tuple[int, ...]
joint_dof_adrs: tuple[int, ...]
body_names: tuple[str, ...]
actuator_names: tuple[str, ...]
actuator_joint_names: tuple[str, ...]
actuator_ctrl_range: ndarray
actuator_kp: ndarray
actuator_kv: ndarray
keyframe_qpos: tuple[tuple[str, ndarray], ...]
default_qpos: ndarray
joint_range: ndarray | None
dof_armature: ndarray
gravity: ndarray
body_mass: ndarray
body_ipos: ndarray
sensor_plans: tuple[GenesisSensorPlan, ...]
__init__(source_model_file, cleanup_handle, nq, nv, nbody, root_qpos_dim, root_qvel_dim, joint_names, joint_qpos_adrs, joint_dof_adrs, body_names, actuator_names, actuator_joint_names, actuator_ctrl_range, actuator_kp, actuator_kv, keyframe_qpos, default_qpos, joint_range, dof_armature, gravity, body_mass, body_ipos, sensor_plans)
Parameters: