duobench/scripts/scale_gray_microwave.py at master · RobotControlStack/duobench · GitHub

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#!/usr/bin/env python3

"""Scale MuJoCo size values and local positional offsets in gray_microwave.xml."""

import argparse

import xml.etree.ElementTree as ET

from pathlib import Path

DEFAULT_INPUT = Path("assets/objects/spring_door/gray_microwave_original.xml")

DEFAULT_OUTPUT = Path("assets/objects/spring_door/gray_microwave.xml")

def parse_args() -> argparse.Namespace:

parser = argparse.ArgumentParser(

description=(

"Parse gray_microwave.xml, scale local geometry values, and write "

"the output XML."

)

parser.add_argument(

"scale_float",

type=float,

help="Scale factor applied to every number in each `size` attribute.",

)

parser.add_argument(

"--input",

type=Path,

default=DEFAULT_INPUT,

help=f"Input XML path. Defaults to {DEFAULT_INPUT}.",

)

parser.add_argument(

"--output",

type=Path,

default=DEFAULT_OUTPUT,

help=f"Output XML path. Defaults to {DEFAULT_OUTPUT}.",

)

return parser.parse_args()

def scale_vector_value(vector_value: str, scale_float: float) -> str:

scaled = [f"{float(part) * scale_float:.9g}" for part in vector_value.split()]

return " ".join(scaled)

def main() -> None:

args = parse_args()

tree = ET.parse(args.input)

root = tree.getroot()

pos_tags = {"body", "geom", "joint", "inertial", "site", "camera", "light"}

for element in root.iter():

size_value = element.get("size")

if size_value is not None:

element.set("size", scale_vector_value(size_value, args.scale_float))

pos_value = element.get("pos")

if pos_value is not None and element.tag in pos_tags:

element.set("pos", scale_vector_value(pos_value, args.scale_float))

ET.indent(tree, space=" ")

args.output.parent.mkdir(parents=True, exist_ok=True)

tree.write(args.output, encoding="utf-8", xml_declaration=False)

if __name__ == "__main__":

main()

duobench/scripts/scale_gray_microwave.py at master · RobotControlStack/duobench · GitHub

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