def _from_xml(cls, node, path, device):
kwargs = cls._parse(node, path)
kwargs['joint_type'] = str(node.attrib['type'])
kwargs['parent'] = node.find('parent').attrib['link']
kwargs['child'] = node.find('child').attrib['link']
axis = node.find('axis')
if axis is not None:
axis = torch.tensor(np.fromstring(axis.attrib['xyz'], sep=' '))
kwargs['axis'] = axis
kwargs['origin'] = torch.tensor(parse_origin(node))
kwargs['device'] = device
return TorchJoint(**kwargs)
def _from_xml(cls, node, path, device):
kwargs = cls._parse(node, path)
kwargs['origin'] = parse_origin(node)
return TorchCollision(**kwargs)
def _from_xml(cls, node, path, device):
kwargs = cls._parse(node, path)
kwargs['origin'] = torch.tensor(parse_origin(node))
kwargs['device'] = device
return TorchVisual(**kwargs)