def generate_xml_dict()

in mujoco_worldgen/objs/geom.py [0:0]

• 21 lines of code
• 4 McCabe index (conditional complexity)

    def generate_xml_dict(self):
        '''
        Generate XML dict needed for MuJoCo model.
        Returns a dictionary with keys as names of top-level nodes:
            e.g. 'worldbody', 'materials', 'assets'
        '''
        body = get_body_xml_node(self.name, use_joints=True)
        geom = OrderedDict()
        geom['@size'] = self.size * 0.5
        body['@pos'] = self.size * 0.5
        if self.geom_type == 'cylinder':
            # Mujoco expects only radius and half-length
            geom['@size'] = [geom['@size'][0], geom['@size'][2]]
        geom['@type'] = self.geom_type
        geom['@condim'] = 3
        geom['@name'] = self.name
        if self.rgba is not None:
            geom['@rgba'] = self.rgba
        body['geom'] = [geom]
        xml_dict = OrderedDict()
        xml_dict['worldbody'] = OrderedDict(body=[body])
        return xml_dict