def normalize()

in mujoco_worldgen/parser/normalize.py [0:0]

• 44 lines of code
• 9 McCabe index (conditional complexity)

def normalize(xml_dict):
    '''
    The starting point is a dictionary of the form returned by xmltodict.
    See that module's documentation here:
        https://github.com/martinblech/xmltodict
    Normalize a mujoco model XML:
        - some nodes have OrderDict value (mostly top-lever such as worldbody)
          some nodes have list values (mostly lower level). Check const.py
          for more information.
        - parameters ('@name', etc) never have list or OrderedDict values
        - "true" and "false" are converted to bool()
        - numbers are converted to floats
        - vectors are converted to np.ndarray()
    Note: stringify() is the opposite of this, and converts everything back
        into strings in preparation for unparse_dict().
    '''
    # As a legacy, previously many of our XMLs had an unused model name.
    # This removes it (as part of annotate) and can be phased out eventually.
    if '@model' in xml_dict:
        del xml_dict['@model']
    for key, value in xml_dict.items():
        if isinstance(value, OrderedDict):
            # There is one exception.
            # <default> symbol occurs twice.
            # Once as OrderDict (top-level), once as list (lower-level).
            if key == "default":
                if "@class" in value:
                    xml_dict[key] = [value]
            elif key in list_types:
                xml_dict[key] = [value]
            normalize(value)
            continue
        if isinstance(value, list):
            for child in value:
                normalize(child)
            continue
        if isinstance(value, str):
            xml_dict[key] = normalize_value(value)
            # sometimes data is stored as int when it's float.
            # We make a conversion here.
            if key in float_arg_types:
                if isinstance(xml_dict[key], int):
                    xml_dict[key] = float(xml_dict[key])
                elif isinstance(xml_dict[key], np.ndarray):
                    xml_dict[key] = xml_dict[key].astype(np.float64)