def _build_mujoco_cube_xml()

in robogym/envs/dactyl/face_perpendicular.py [0:0]

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

    def _build_mujoco_cube_xml(cls, xml, cube_xml_path):
        xml.append(
            MujocoXML.parse(cube_xml_path)
            .add_name_prefix("cube:")
            .set_named_objects_attr("cube:middle", tag="body", pos=[1.0, 0.87, 0.2])
            # Leave +/- z driver joints
            .remove_objects_by_name(names="cube:cubelet:driver:neg_x", tag="joint")
            .remove_objects_by_name(names="cube:cubelet:driver:pos_x", tag="joint")
            .remove_objects_by_name(names="cube:cubelet:driver:neg_y", tag="joint")
            .remove_objects_by_name(names="cube:cubelet:driver:pos_y", tag="joint")
            # Remove x/y cubelet hinge joints
            .remove_objects_by_prefix(prefix="cube:cubelet:rotx:", tag="joint")
            .remove_objects_by_prefix(prefix="cube:cubelet:roty:", tag="joint")
            # Delete springs for now
            .remove_objects_by_prefix(prefix="cube:cubelet:spring:", tag="joint")
            # Remove remaining cubelet joints we're not interested in
            .remove_objects_by_name(
                names=[
                    "cube:cubelet:rotz:neg_x_pos_y",
                    "cube:cubelet:rotz:neg_x_neg_y",
                    "cube:cubelet:rotz:pos_x_pos_y",
                    "cube:cubelet:rotz:pos_x_neg_y",
                ],
                tag="joint",
            )
        )

        # Target
        xml.append(
            MujocoXML.parse(cube_xml_path)
            .add_name_prefix("target:")
            .set_named_objects_attr("target:middle", tag="body", pos=[1.0, 0.87, 0.2])
            # Disable collisions
            .set_objects_attr(tag="geom", group="2", conaffinity="0", contype="0")
            # Leave +/- z driver joints
            .remove_objects_by_name(names="target:cubelet:driver:neg_x", tag="joint")
            .remove_objects_by_name(names="target:cubelet:driver:pos_x", tag="joint")
            .remove_objects_by_name(names="target:cubelet:driver:neg_y", tag="joint")
            .remove_objects_by_name(names="target:cubelet:driver:pos_y", tag="joint")
            # Remove x/y cubelet hinge joints
            .remove_objects_by_prefix(prefix="target:cubelet:rotx:", tag="joint")
            .remove_objects_by_prefix(prefix="target:cubelet:roty:", tag="joint")
            .remove_objects_by_prefix(prefix="target:cubelet:spring:", tag="joint")
            # Remove remaining cubelet joints we're not interested in
            .remove_objects_by_name(
                names=[
                    "target:cubelet:rotz:neg_x_pos_y",
                    "target:cubelet:rotz:neg_x_neg_y",
                    "target:cubelet:rotz:pos_x_pos_y",
                    "target:cubelet:rotz:pos_x_neg_y",
                ],
                tag="joint",
            )
        )