def set_origin(self, offset):
"""Applies a constant offset to all objects."""
offset = np.array(offset)
for node in self.worldbody.findall("./*[@pos]"):
cur_pos = string_to_array(node.get("pos"))
new_pos = cur_pos + offset
node.set("pos", array_to_string(new_pos))
def bin_abs(self):
"""Returns the absolute position of table top"""
return string_to_array(self.bin1_body.get("pos"))
def table_top_abs(self):
"""
Returns the absolute position of table top.
"""
return string_to_array(self.table_body.get("pos"))
def table_top_abs(self):
"""Returns the absolute position of table top"""
table_height = np.array([0, 0, self.table_full_size[2]])
return string_to_array(self.floor.get("pos")) + table_height
def get_horizontal_radius(self):
horizontal_radius_site = self.worldbody.find(
"./body/site[@name='horizontal_radius_site']")
return string_to_array(horizontal_radius_site.get("pos"))[0]
def get_top_offset(self):
top_site = self.worldbody.find("./body/site[@name='top_site']")
return string_to_array(top_site.get("pos"))
def get_bottom_offset(self):
bottom_site = self.worldbody.find("./body/site[@name='bottom_site']")
return string_to_array(bottom_site.get("pos"))