def _add_marker_to_scene()

in mujoco_py/mjrendercontext.pyx [0:0]

• 38 lines of code
• 8 McCabe index (conditional complexity)

    def _add_marker_to_scene(self, marker_params):
        """ Adds marker to scene, and returns the corresponding object. """
        if self._scn.ngeom >= self._scn.maxgeom:
            raise RuntimeError('Ran out of geoms. maxgeom: %d' % self._scn.maxgeom)

        cdef mjvGeom *g = self._scn.geoms + self._scn.ngeom

        # default values.
        g.dataid = -1
        g.objtype = const.OBJ_UNKNOWN
        g.objid = -1
        g.category = const.CAT_DECOR
        g.texid = -1
        g.texuniform = 0
        g.texrepeat[0] = 1
        g.texrepeat[1] = 1
        g.emission = 0
        g.specular = 0.5
        g.shininess = 0.5
        g.reflectance = 0
        g.type = const.GEOM_BOX
        g.size[:] = np.ones(3) * 0.1
        g.mat[:] = np.eye(3).flatten()
        g.rgba[:] = np.ones(4)
        wrapped = WrapMjvGeom(g)

        for key, value in marker_params.items():
            if isinstance(value, (int, float)):
                setattr(wrapped, key, value)
            elif isinstance(value, (tuple, list, np.ndarray)):
                attr = getattr(wrapped, key)
                attr[:] = np.asarray(value).reshape(attr.shape)
            elif isinstance(value, str):
                assert key == "label", "Only label is a string in mjvGeom."
                if value == None:
                    g.label[0] = 0
                else:
                    strncpy(g.label, value.encode(), 100)
            elif hasattr(wrapped, key):
                raise ValueError("mjvGeom has attr {} but type {} is invalid".format(key, type(value)))
            else:
                raise ValueError("mjvGeom doesn't have field %s" % key)

        self._scn.ngeom += 1