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import abc
import xml.etree.ElementTree as ET
class BaseParser(object):
"""
Base class for Parser objects used by renderers.
"""
def __init__(self, renderer, env):
"""
Parse the mujoco xml and initialize iG renderer objects.
Args:
renderer: the renderer
env : Mujoco env
"""
self.renderer = renderer
self.env = env
self.xml_root = ET.fromstring(self.env.sim.model.get_xml())
self.parent_map = {c: p for p in self.xml_root.iter() for c in p}
self.visual_objects = {}
@abc.abstractmethod
def parse_textures(self):
"""
Parse and load all textures and store them
"""
raise NotImplementedError
@abc.abstractmethod
def parse_materials(self):
"""
Parse all materials and use texture mapping to initialize materials
"""
raise NotImplementedError
def parse_cameras(self):
"""
Parse cameras and initialize the cameras.
"""
raise NotImplementedError
def parse_meshes(self):
"""
Create mapping of meshes.
"""
raise NotImplementedError
def parse_geometries(self):
"""
Iterate through each geometry and load it in the renderer.
"""
raise NotImplementedError
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