(mjcf_root)
Introduce visual only geoms to complement the `JERSEY` visual.
Introduce visual only geoms to complement the `JERSEY` visual.
Introduce visual only geoms to complement the JERSEY visual .
def _add_visual_only_geoms(mjcf_root):
  """Introduce visual only geoms to complement the `JERSEY` visual."""
  lowerneck = mjcf_root.find('body', 'lowerneck')
  neck_offset = 0.066 - 0.0452401
  lowerneck.add(
      'geom',
      name='halfneck',
      # shrink neck radius from 0.06 to 0.05 else it pokes through shirt
      size=(0.05, 0.02279225 - neck_offset),
      pos=(-0.00165071, 0.0452401 + neck_offset, 0.00534359),
      quat=(0.66437, 0.746906, 0.027253, 0),
      mass=0.,
      contype=0,
      conaffinity=0,
      rgba=(.7, .5, .3, 1))
  lhumerus = mjcf_root.find('body', 'lhumerus')
  humerus_offset = 0.20 - 0.138421
  lhumerus.add(
      'geom',
      name='lelbow',
      size=(0.035, 0.1245789 - humerus_offset),
      pos=(0.0, -0.138421 - humerus_offset, 0.0),
      quat=(0.612372, -0.612372, 0.353553, 0.353553),
      mass=0.,
      contype=0,
      conaffinity=0,
      rgba=(.7, .5, .3, 1))
  rhumerus = mjcf_root.find('body', 'rhumerus')
  humerus_offset = 0.20 - 0.138421
  rhumerus.add(
      'geom',
      name='relbow',
      size=(0.035, 0.1245789 - humerus_offset),
      pos=(0.0, -0.138421 - humerus_offset, 0.0),
      quat=(0.612372, -0.612372, -0.353553, -0.353553),
      mass=0.,
      contype=0,
      conaffinity=0,
      rgba=(.7, .5, .3, 1))
  lfemur = mjcf_root.find('body', 'lfemur')
  femur_offset = 0.384 - 0.202473
  lfemur.add(
      'geom',
      name='lknee',
      # shrink knee radius from 0.06 to 0.055 else it pokes through short
      size=(0.055, 0.1822257 - femur_offset),
      pos=(-5.0684e-08, -0.202473 - femur_offset, 0),
      quat=(0.696364, -0.696364, -0.122788, -0.122788),
      mass=0.,
      contype=0,
      conaffinity=0,
      rgba=(.7, .5, .3, 1))
  rfemur = mjcf_root.find('body', 'rfemur')
  femur_offset = 0.384 - 0.202473
  rfemur.add(
      'geom',
      name='rknee',
      # shrink knee radius from 0.06 to 0.055 else it pokes through short
      size=(0.055, 0.1822257 - femur_offset),
      pos=(-5.0684e-08, -0.202473 - femur_offset, 0),
      quat=(0.696364, -0.696364, 0.122788, 0.122788),
      mass=0.,
      contype=0,
      conaffinity=0,
      rgba=(.7, .5, .3, 1))
def _add_visual_only_geoms ( mjcf_root ) : lowerneck = mjcf_root . find ( 'body' , 'lowerneck' ) neck_offset = 0.066 - 0.0452401 lowerneck . add ( 'geom' , name = 'halfneck' , # shrink neck radius from 0.06 to 0.05 else it pokes through shirt size = ( 0.05 , 0.02279225 - neck_offset ) , pos = ( - 0.00165071 , 0.0452401 + neck_offset , 0.00534359 ) , quat = ( 0.66437 , 0.746906 , 0.027253 , 0 ) , mass = 0. , contype = 0 , conaffinity = 0 , rgba = ( .7 , .5 , .3 , 1 ) ) lhumerus = mjcf_root . find ( 'body' , 'lhumerus' ) humerus_offset = 0.20 - 0.138421 lhumerus . add ( 'geom' , name = 'lelbow' , size = ( 0.035 , 0.1245789 - humerus_offset ) , pos = ( 0.0 , - 0.138421 - humerus_offset , 0.0 ) , quat = ( 0.612372 , - 0.612372 , 0.353553 , 0.353553 ) , mass = 0. , contype = 0 , conaffinity = 0 , rgba = ( .7 , .5 , .3 , 1 ) ) rhumerus = mjcf_root . find ( 'body' , 'rhumerus' ) humerus_offset = 0.20 - 0.138421 rhumerus . add ( 'geom' , name = 'relbow' , size = ( 0.035 , 0.1245789 - humerus_offset ) , pos = ( 0.0 , - 0.138421 - humerus_offset , 0.0 ) , quat = ( 0.612372 , - 0.612372 , - 0.353553 , - 0.353553 ) , mass = 0. , contype = 0 , conaffinity = 0 , rgba = ( .7 , .5 , .3 , 1 ) ) lfemur = mjcf_root . find ( 'body' , 'lfemur' ) femur_offset = 0.384 - 0.202473 lfemur . add ( 'geom' , name = 'lknee' , # shrink knee radius from 0.06 to 0.055 else it pokes through short size = ( 0.055 , 0.1822257 - femur_offset ) , pos = ( - 5.0684e-08 , - 0.202473 - femur_offset , 0 ) , quat = ( 0.696364 , - 0.696364 , - 0.122788 , - 0.122788 ) , mass = 0. , contype = 0 , conaffinity = 0 , rgba = ( .7 , .5 , .3 , 1 ) ) rfemur = mjcf_root . find ( 'body' , 'rfemur' ) femur_offset = 0.384 - 0.202473 rfemur . add ( 'geom' , name = 'rknee' , # shrink knee radius from 0.06 to 0.055 else it pokes through short size = ( 0.055 , 0.1822257 - femur_offset ) , pos = ( - 5.0684e-08 , - 0.202473 - femur_offset , 0 ) , quat = ( 0.696364 , - 0.696364 , 0.122788 , 0.122788 ) , mass = 0. , contype = 0 , conaffinity = 0 , rgba = ( .7 , .5 , .3 , 1 ) )