def to_xml_dict()

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

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

    def to_xml_dict(self):
        '''
        Generates XML for this object and all of its children.
            see generate_xml() for parameter documentation
        Returns merged xml_dict
        '''
        full_xml_dict = OrderedDict()
        # First add all of our own xml
        self.xml_dict = self.generate_xml_dict()

        # Removed joints marked to be static. We set positions in XML instead of using qpos.
        for body in self.xml_dict.get("worldbody", {}).get("body", []):
            remaining_joints = []
            for jnt in body.get("joint", []):
                if jnt["@type"] == "slide":
                    axis_idx = get_axis_index(jnt["@axis"])
                    if self._keep_slide_joint[axis_idx]:
                        remaining_joints.append(jnt)
                    else:
                        body["@pos"][axis_idx] = float(body["@pos"][axis_idx]) + self.absolute_position[axis_idx]
                elif jnt["@type"] == "hinge":
                    axis_idx = get_axis_index(jnt["@axis"])
                    if self._keep_hinge_joint[axis_idx]:
                        remaining_joints.append(jnt)
                elif jnt["@type"] == "ball":
                    remaining_joints.append(jnt)
            body["joint"] = remaining_joints

        if len(self.markers) > 0:
            bodies = [body for body in self.xml_dict["worldbody"]
                      ["body"] if "annotation" not in body["@name"] and
                                  ("@mocap" not in body or not body["@mocap"])]
            assert len(bodies) == 1, ("Object %s should have only one body " % self) + \
                "to attach markers to. Otherwise mark() is" + \
                "ambiguous."
            body = bodies[0]
            if "site" not in body:
                body["site"] = []
            for marker in self.markers:
                site = OrderedDict()
                site['@name'] = marker['name']
                site['@pos'] = marker['position']
                site['@size'] = marker['size']
                site['@rgba'] = marker['rgba']
                site['@type'] = marker['type']
                body['site'].append(site)

        # Adding material influences nodes of the parent.
        if self._material is not None:
            update_mujoco_dict(self.xml_dict, self._material.generate_xml_dict())

            def assign_material(node):
                if "geom" in node:
                    for g in node["geom"]:
                        g["@material"] = self._material.name
            closure_transform(assign_material)(self.xml_dict)

        update_mujoco_dict(full_xml_dict, self.xml_dict)
        for transform in self.transforms:
            transform(full_xml_dict)
        # Then add the xml of all of our children
        for children in self.children.values():
            for child, _ in children:
                child_dict = child.to_xml_dict()
                update_mujoco_dict(full_xml_dict, child_dict)

        return full_xml_dict