Merge pull request #58 from mr-mikmik/master

adding option to provide assets when creating pk chain from mjcf

Author: LemonPi

src/pytorch_kinematics/mjcf.py

@@ -1,4 +1,4 @@
-from typing import Union
+from typing import Union, Optional, Dict
 
 import mujoco
 from mujoco._structs import _MjModelBodyViews as MjModelBodyViews
@@ -57,7 +57,7 @@ def _build_chain_recurse(m, parent_frame, parent_body):
             parent_frame.children = parent_frame.children + [site_frame, ]
 
 
-def build_chain_from_mjcf(data, body: Union[None, str, int] = None):
+def build_chain_from_mjcf(data, body: Union[None, str, int] = None, assets:Optional[Dict[str,bytes]]=None):
     """
     Build a Chain object from MJCF data.
 
@@ -73,7 +73,7 @@ def build_chain_from_mjcf(data, body: Union[None, str, int] = None):
     chain.Chain
         Chain object created from MJCF.
     """
-    m = mujoco.MjModel.from_xml_string(data)
+    m = mujoco.MjModel.from_xml_string(data, assets=assets)
     if body is None:
         root_body = m.body(0)
     else: