Add set_scale to Arena and MujocoObject - #643
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kevin-thankyou-lin
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set_scale to Arena and MujocoObject
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Any reason why you can't just move the code to a parent class? Seems like its repeated across 3 classes. |
…into enable-scale-setting-arena
…into enable-scale-setting-arena
…into enable-scale-setting-arena
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Refactored @Abhiram824 could you please take a look? |
Abhiram824
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Jul 10, 2025
| # Choose what to do based on elements type | ||
| if isinstance(elements, str): | ||
| # We simply return the value of this single element | ||
| assert element_type in { |
Abhiram824
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Jul 10, 2025
| scale_array = normalize_scale_array(scale) | ||
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| # Scale geoms | ||
| geom_pairs = get_geoms_func(obj) |
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why do we need to treat geoms differently with the get_geoms_func? why cant we just do get_elements_func(obj, "geom") Also should we move the _get_elements to mjcf_utils.py?
Abhiram824
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Jul 10, 2025
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Looks mostly good, left some comments mainly to refactor code
ShahRutav
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Dec 31, 2025
* Add scale setting and saving in arena * Require obj param for set_scale in arena * Update interface of set_scale in arena * Update set_scale object indexing * Format * Improve logging if invalid object to scale * Add option to set_scale of MujocoObjects * Format * Refactor scale setting code * format * refactor * re-add assert to get_ids * Format * Format
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What this does
Add ability to
set_scaleof bodies in arena, as well asset_scaleforMujocoObjects; previously onlyMujocoXMLObjecthad these functions.How to test
In _load_arena() add something like:
scale=0.5
scale=1.5
