def generate_xinit(self):
# MuJoCo uses center of geom as origin, while we use bottom corner
if not self.placeable:
return {}
position = self.absolute_position
position_xinit = {}
# extracts names of three top level slide joints from
# the body.
for body in self.xml_dict["worldbody"]["body"]:
for jnt in body.get("joint", []):
if jnt["@type"] == "slide":
idx = get_axis_index(jnt["@axis"])
position_xinit[jnt["@name"]] = position[idx]
# Some people add transforms which remove joints.
# Only generate xinit terms for joints that remain
xinit = {}
for body in self.xml_dict["worldbody"]["body"]:
for joint in body.get('joint', []):
joint_name = joint.get('@name', '')
if joint_name in position_xinit:
xinit[joint_name] = position_xinit[joint_name]
if hasattr(self, "default_qpos") and self.default_qpos is not None:
for joint, value in self.default_qpos.items():
if not joint.startswith(self.name + ':'):
joint = self.name + ":" + joint
xinit[joint] = value
return xinit
def to_xml_dict(self):
'''
Generates XML for this object and all of its children.
see generate_xml() for parameter documentation
Returns merged xml_dict
'''
full_xml_dict = OrderedDict()
# First add all of our own xml
self.xml_dict = self.generate_xml_dict()
# Removed joints marked to be static. We set positions in XML instead of using qpos.
for body in self.xml_dict.get("worldbody", {}).get("body", []):
remaining_joints = []
for jnt in body.get("joint", []):
if jnt["@type"] == "slide":
axis_idx = get_axis_index(jnt["@axis"])
if self._keep_slide_joint[axis_idx]:
remaining_joints.append(jnt)
else:
body["@pos"][axis_idx] = float(
body["@pos"]
[axis_idx]) + self.absolute_position[axis_idx]
elif jnt["@type"] == "hinge":
axis_idx = get_axis_index(jnt["@axis"])
if self._keep_hinge_joint[axis_idx]:
remaining_joints.append(jnt)
elif jnt["@type"] == "ball":
remaining_joints.append(jnt)
body["joint"] = remaining_joints
if len(self.markers) > 0:
bodies = [
body for body in self.xml_dict["worldbody"]["body"]
if "annotation" not in body["@name"] and (
"@mocap" not in body or not body["@mocap"])
]
assert len(bodies) == 1, ("Object %s should have only one body " % self) + \
"to attach markers to. Otherwise mark() is" + \
"ambiguous."
body = bodies[0]
if "site" not in body:
body["site"] = []
for marker in self.markers:
site = OrderedDict()
site['@name'] = marker['name']
site['@pos'] = marker['position']
site['@size'] = marker['size']
site['@rgba'] = marker['rgba']
site['@type'] = marker['type']
body['site'].append(site)
# Adding material influences nodes of the parent.
if self._material is not None:
update_mujoco_dict(self.xml_dict,
self._material.generate_xml_dict())
def assign_material(node):
if "geom" in node:
for g in node["geom"]:
g["@material"] = self._material.name
closure_transform(assign_material)(self.xml_dict)
update_mujoco_dict(full_xml_dict, self.xml_dict)
for transform in self.transforms:
transform(full_xml_dict)
# Then add the xml of all of our children
for children in self.children.values():
for child, _ in children:
child_dict = child.to_xml_dict()
update_mujoco_dict(full_xml_dict, child_dict)
return full_xml_dict