mjcf

set_mujoco_globals(mjcf_model, mujoco_globals_path)

Load a YAML file of global MuJoCo settings and apply them to an MJCF model.

Parameters:

Name	Type	Description	Default
mjcf_model	RootElement	The root MJCF element to update.	required
mujoco_globals_path	PathLike	Path to the YAML file containing global parameter overrides (e.g. timestep, gravity).	required

Source code in src/flygym/utils/mjcf.py

def set_mujoco_globals(
    mjcf_model: mjcf.RootElement, mujoco_globals_path: PathLike
) -> None:
    """Load a YAML file of global MuJoCo settings and apply them to an MJCF model.

    Args:
        mjcf_model: The root MJCF element to update.
        mujoco_globals_path: Path to the YAML file containing global parameter
            overrides (e.g. timestep, gravity).
    """
    with open(mujoco_globals_path) as f:
        mujoco_globals = yaml.safe_load(f)
    set_params_recursive(mjcf_model, mujoco_globals)

set_params_recursive(root, params_dict)

Recursively set attributes and child elements on an MJCF element in place.

Parameters:

Name	Type	Description	Default
root	Element	The MJCF element to update.	required
params_dict	dict[str, Any]	Dict mapping attribute or child element names to values. Nested dicts are interpreted as child element attribute maps.	required

Source code in src/flygym/utils/mjcf.py

def set_params_recursive(root: mjcf.Element, params_dict: dict[str, Any]) -> None:
    """Recursively set attributes and child elements on an MJCF element in place.

    Args:
        root: The MJCF element to update.
        params_dict: Dict mapping attribute or child element names to values. Nested
            dicts are interpreted as child element attribute maps.
    """
    params_to_set = [(root, key, value) for key, value in params_dict.items()]
    while params_to_set:
        parent, key, value = params_to_set.pop(0)
        if key in parent.spec.attributes:
            setattr(parent, key, value)
        elif key in parent.spec.children:
            if not isinstance(value, dict):
                raise ValueError(f"Expected dict for key '{key}', got {type(value)}")
            child_element = parent.get_children(key)
            for child_key, child_value in value.items():
                params_to_set.append((child_element, child_key, child_value))