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import robosuite.macros as macros
from robosuite.models.base import MujocoXML
from robosuite.utils.mjcf_utils import convert_to_string, find_elements, xml_path_completion
class MujocoWorldBase(MujocoXML):
"""Base class to inherit all mujoco worlds from."""
def __init__(self):
super().__init__(xml_path_completion("base.xml"))
# Modify the simulation timestep to be the requested value
options = find_elements(root=self.root, tags="option", attribs=None, return_first=True)
options.set("timestep", convert_to_string(macros.SIMULATION_TIMESTEP))
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