| """Fix mujoco API compatibility in export script.""" |
| from pathlib import Path |
|
|
| path = Path("/home/zhanghao/scene/scenesmith_full/scripts/export_scene_to_mujoco.py") |
| text = path.read_text() |
|
|
| |
| old_axis = """ joint.axis = axis_values""" |
| new_axis = """ joint.axis = np.array(axis_values, dtype=np.float64).reshape(3, 1)""" |
| if old_axis in text: |
| text = text.replace(old_axis, new_axis) |
| print("Patched joint.axis") |
| else: |
| print("axis pattern not found") |
|
|
| |
| old_pos = """ if joint_pos is not None: |
| joint.pos = joint_pos""" |
| new_pos = """ if joint_pos is not None: |
| joint.pos = np.array(joint_pos, dtype=np.float64).reshape(3, 1)""" |
| if old_pos in text: |
| text = text.replace(old_pos, new_pos) |
| print("Patched joint.pos") |
| else: |
| print("pos pattern not found") |
|
|
| |
| old_range = """ joint.range = [lower, upper]""" |
| new_range = """ joint.range = np.array([lower, upper], dtype=np.float64)""" |
| if old_range in text: |
| text = text.replace(old_range, new_range) |
| print("Patched joint.range") |
| else: |
| print("range pattern not found") |
|
|
| path.write_text(text) |
| print("Done") |
|
|
