| """Import independent MJCF object files and triangle meshes into a scene.""" |
|
|
| from __future__ import annotations |
|
|
| from pathlib import Path |
| from xml.sax.saxutils import quoteattr |
|
|
| import mujoco |
|
|
|
|
| SUPPORTED_SUFFIXES = {".xml", ".obj", ".stl"} |
|
|
|
|
| def attach_object(scene: mujoco.MjSpec, path: str | Path, index: int, mesh_scale: float) -> None: |
| """Attach one MJCF object or OBJ/STL mesh as a movable world object. |
| |
| MJCF input should describe an object body, not a complete environment. Mesh |
| files are wrapped in a free body and use the mesh as their collision hull. |
| """ |
| source = Path(path).expanduser().resolve() |
| suffix = source.suffix.lower() |
| if suffix not in SUPPORTED_SUFFIXES: |
| raise ValueError(f"不支持的对象格式: {source.suffix}") |
|
|
| if suffix == ".xml": |
| child = mujoco.MjSpec.from_file(str(source)) |
| else: |
| meshdir = quoteattr(source.parent.as_posix()) |
| filename = quoteattr(source.name) |
| safe_name = f"import_mesh_{index}" |
| xml = ( |
| f'<mujoco model="imported_object_{index}">' |
| f'<compiler meshdir={meshdir}/>' |
| f'<asset><mesh name="{safe_name}" file={filename} ' |
| f'scale="{mesh_scale} {mesh_scale} {mesh_scale}"/></asset>' |
| '<worldbody><body name="object"><freejoint/>' |
| f'<geom name="collision" type="mesh" mesh="{safe_name}" ' |
| 'mass="0.25" condim="3" friction="1.0 0.01 0.001"/>' |
| '</body></worldbody></mujoco>' |
| ) |
| child = mujoco.MjSpec.from_string(xml) |
|
|
| |
| column = index % 3 |
| row = index // 3 |
| frame = scene.worldbody.add_frame( |
| name=f"import_slot_{index}", |
| pos=[0.38 + 0.14 * column, 0.16 + 0.14 * row, 0.0], |
| ) |
| scene.attach(child, prefix=f"imported_{index}_", frame=frame) |
|
|
