concepts.simulator.sapien2.srdf_exporter

Functions

check_collision_group(groupA, groupB)	groupA and groupB are the collision groups of 2 collision shapes A and B.
export_srdf(articulation)	Exports the articulation's SRDF as a string (only disable_collisions element)
export_srdf_xml(articulation)	Export an articulation link disable_collisions.
get_parent_link(link)	Get the parent link of the given link.