def add_joints()

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

• 31 lines of code
• 10 McCabe index (conditional complexity)

    def add_joints(self, body):
        joint_names = []
        if 'joint' not in body:
            body['joint'] = []
        if isinstance(body['joint'], OrderedDict):
            body['joint'] = [body['joint']]
        for i, slide_axis in enumerate(np.eye(3)):
            found = False
            for joint in body['joint']:
                if not isinstance(joint, OrderedDict):
                    continue
                if joint.get('@type') != 'slide':
                    continue
                if '@axis' not in joint:
                    continue
                axis = joint['@axis']
                if np.linalg.norm(slide_axis - axis) < 1e-6:
                    joint_names.append(joint['@name'])
                    found = True
                    break  # Found axis
            if not found:  # add this joint
                slide = OrderedDict()
                joint_name = self.name + ':slide%d' % i
                slide['@name'] = joint_name
                slide['@type'] = 'slide'
                slide['@axis'] = slide_axis
                slide['@damping'] = '0.01'
                slide['@pos'] = np.zeros(3)
                body['joint'].append(slide)
                joint_names.append(joint_name)
        return joint_names