src.utils package
Submodules
src.utils.file_converters module
- src.utils.file_converters.mj_xml_to_mjcf(xml_path, mjcf_path, overwrite=False)[source]
Convert a Mujoco XML file to a Mujoco MJCF file.
- Parameters:
xml_path (str) – Path to the XML file.
mjcf_path (str) – Path to the output MJCF file.
overwrite (bool) – Whether to overwrite the output file if it exists.
- src.utils.file_converters.urdf_to_mj_xml(urdf_path, xml_path, overwrite=False)[source]
Convert a URDF file to a Mujoco XML file.
- Parameters:
urdf_path (str) – Path to the URDF file.
xml_path (str) – Path to the output XML file.
overwrite (bool) – Whether to overwrite the output file if it exists.
- src.utils.file_converters.urdf_to_mjcf(urdf_path, mjcf_path, overwrite=False)[source]
Convert a URDF file to a Mujoco MJCF file.
- Parameters:
urdf_path (str) – Path to the URDF file.
mjcf_path (str) – Path to the output MJCF file.
overwrite (bool) – Whether to overwrite the output file if it exists.
src.utils.multiagent_model_generator module
- src.utils.multiagent_model_generator.multiagent_model(n_drones: int, spacing: float = 2.0) MjModel[source]
Load a multi-agent MuJoCo model with a specified number of drones positioned in a 2D grid.
- Parameters:
n_drones – The number of drones to include in the model.
spacing – The spacing between drones in the grid.
- Returns:
An instance of MjModel representing the multi-agent scene.
- src.utils.multiagent_model_generator.save_multiagent_model(n_drones: int, spacing: float = 2.0, save_dir: str = None) str[source]
Generate individual UAV XML files and a scene file including all UAVs, then save them to a directory.
- Parameters:
n_drones – The number of drones to include in the scene.
spacing – The spacing between drones in the generated grid.
save_dir – The directory to save the generated XML files. Defaults to SAVE_DIR.
- Returns:
The path to the generated scene file.