50 lines
1.4 KiB
Python
50 lines
1.4 KiB
Python
import json
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import yaml
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import xml.etree.ElementTree as ET
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from collections import OrderedDict
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from pathlib import Path
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def read_json(fname):
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fname = Path(fname)
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with fname.open('rt') as handle:
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return json.load(handle, object_hook=OrderedDict)
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def write_json(content, fname):
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fname = Path(fname)
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with fname.open('wt') as handle:
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json.dump(content, handle, indent=4, sort_keys=False)
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def read_yaml(fname):
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fname = Path(fname)
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with fname.open('rt') as handle:
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return yaml.load(handle, Loader=yaml.FullLoader)
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def write_yaml(content, fname):
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fname = Path(fname)
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with fname.open('wt') as handle:
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yaml.dump(content, handle)
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def config_save(dir_path, config):
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dir_path = Path(dir_path)
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config_path_json = dir_path / "config.json"
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config_path_yaml = dir_path / "config.yml"
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# .json and .yml file,save 2 version of configuration.
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write_json(config, config_path_json)
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write_yaml(config, config_path_yaml)
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def change_kp_in_xml(kp_list,
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model_path="/home/zhou/slow/table_tennis_rl/simulation/gymTableTennis/gym_table_tennis/envs/robotics/assets/table_tennis/right_arm_actuator.xml"):
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tree = ET.parse(model_path)
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root = tree.getroot()
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# for actuator in root.find("actuator"):
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for position, kp in zip(root.iter('position'), kp_list):
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position.set("kp", str(kp))
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tree.write(model_path)
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