Utilities

mink.utils.move_mocap_to_frame(model: MjModel, data: MjData, mocap_name: str, frame_name: str, frame_type: str) → None

Initialize mocap body pose at a desired frame.

Parameters:

• model (MjModel) – Mujoco model.

• data (MjData) – Mujoco data.

• mocap_name (str) – The name of the mocap body.

• frame_name (str) – The desired frame name.

• frame_type (str) – The desired frame type. Can be “body”, “geom” or “site”.

Return type:

None

mink.utils.get_freejoint_dims(model: MjModel) → tuple[list[int], list[int]]

Get all floating joint configuration and tangent indices.

Parameters:

model (MjModel) – Mujoco model.

Returns:

A (q_ids, v_ids) pair containing all floating joint indices in the configuration and tangent spaces respectively.

Return type:

tuple[list[int], list[int]]

mink.utils.custom_configuration_vector(model: MjModel, key_name: str | None = None, **kwargs) → ndarray

Generate a configuration vector where named joints have specific values.

Parameters:

• model (MjModel) – Mujoco model.

• key_name (str | None) – Optional keyframe name to initialize the configuration vector from. Otherwise, the default pose qpos0 is used.

• kwargs – Custom values for joint coordinates.

Returns:

Configuration vector where named joints have the values specified in

keyword arguments, and other joints have their neutral value or value defined in the keyframe if provided.

Return type:

ndarray

mink.utils.get_body_body_ids(model: MjModel, body_id: int) → list[int]

Get immediate children bodies belonging to a given body.

Parameters:

• model (MjModel) – Mujoco model.

• body_id (int) – ID of body.

Returns:

A list containing all child body ids.

Return type:

list[int]

mink.utils.get_subtree_body_ids(model: MjModel, body_id: int) → list[int]

Get all bodies belonging to subtree starting at a given body.

Parameters:

• model (MjModel) – Mujoco model.

• body_id (int) – ID of body where subtree starts.

Returns:

A list containing all subtree body ids.

Return type:

list[int]

mink.utils.get_body_geom_ids(model: MjModel, body_id: int) → list[int]

Get immediate geoms belonging to a given body.

Here, immediate geoms are those directly attached to the body and not its descendants.

Parameters:

• model (MjModel) – Mujoco model.

• body_id (int) – ID of body.

Returns:

A list containing all body geom ids.

Return type:

list[int]

mink.utils.get_subtree_geom_ids(model: MjModel, body_id: int) → list[int]

Get all geoms belonging to subtree starting at a given body.

Here, a subtree is defined as the kinematic tree starting at the body and including all its descendants.

Parameters:

• model (MjModel) – Mujoco model.

• body_id (int) – ID of body where subtree starts.

Returns:

A list containing all subtree geom ids.

Return type:

list[int]