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scripts/tools/dump_mjcf.py

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+#!/usr/bin/env python3
+"""
+Dump MJCF XML for a brittle-star morphology using the project's Hydra configs.
+
+Usage examples:
+
+  # Use a named morphology config from configs/morphology (Hydra style)
+  uv run python scripts/analysis/dump_mjcf.py morphology=3_arms
+
+  # Use a morphology override YAML (same key as simulation.morphology_override)
+  uv run python scripts/analysis/dump_mjcf.py \
+    simulation.morphology_override=configs/morphology/3_arms.yaml
+
+Output path:
+    Provide `dump_out=path/to/file.xml` on the command line, otherwise writes `morphology.xml` in
+    current directory or `runs/morphologies/<name>.xml`.
+"""
+
+from __future__ import annotations
+
+import dataclasses
+import logging
+import sys
+from pathlib import Path
+from typing import Any, Optional
+
+import hydra
+import yaml
+from omegaconf import DictConfig, OmegaConf
+
+from brittle_star_project.configs.register_configs import register_configs
+from brittle_star_project.environment.env_config import MorphologyConfig
+from brittle_star_project.environment.factory import BrittleStarEnvFactory
+
+logging.basicConfig(level=logging.INFO, format="%(levelname)s: %(message)s")
+logger = logging.getLogger(__name__)
+
+
+def extract_xml_string(obj: Any) -> Optional[str]:
+    """
+    Attempts to serialize the morphology object to an XML string by checking
+    common dm_control and internal API methods.
+    """
+    serialization_methods = [
+        "to_xml_string",
+        "to_xml",
+        "to_string",
+        "to_mjcf",
+        "to_mjcf_string",
+        "get_mjcf",
+        "get_mjcf_str",
+        "export_to_xml_string",
+    ]
+
+    # If the object itself has an 'mjcf' attribute, try to serialize that instead
+    target_obj = getattr(obj, "mjcf", obj)
+
+    for method_name in serialization_methods:
+        method = getattr(target_obj, method_name, None)
+        if callable(method):
+            try:
+                xml_data = method()
+                # Safely handle both string and byte responses
+                if isinstance(xml_data, str):
+                    return xml_data
+                elif isinstance(xml_data, bytes):
+                    return xml_data.decode("utf-8")
+            except Exception as e:
+                logger.debug(f"Method {method_name}() failed during serialization: {e}")
+
+    return None
+
+
+def resolve_output_path(cfg: DictConfig) -> Path:
+    """Determines the appropriate output path for the MJCF XML."""
+    dump_out = cfg.get("dump_out", None)
+    if dump_out is not None:
+        return Path(hydra.utils.to_absolute_path(str(dump_out)))
+
+    morph_name = "morphology"
+    for arg in sys.argv[1:]:
+        if arg.startswith("morphology="):
+            morph_name = arg.split("=", 1)[1]
+            break
+
+    default_out = (
+        f"runs/morphologies/{morph_name}.xml" if morph_name != "morphology" else "morphology.xml"
+    )
+    return Path(hydra.utils.to_absolute_path(default_out))
+
+
+@hydra.main(config_path="../../configs", config_name="main_config", version_base="1.3")
+def main(cfg: DictConfig) -> None:
+    """Main entry point to construct the morphology and dump its XML."""
+    logger.info("Initializing morphology construction...")
+
+    # Extract morphology config safely using dict `.get()` to avoid OmegaConf AttributeErrors
+    simulation_cfg = cfg.get("simulation", cfg)
+    override_path = simulation_cfg.get("morphology_override", None)
+
+    if override_path:
+        logger.info(f"Using morphology override: {override_path}")
+        with open(hydra.utils.to_absolute_path(override_path), "r") as f:
+            data = yaml.safe_load(f) or {}
+        morph_cfg = MorphologyConfig(**data)
+    else:
+        # Fallback to default simulation morphology, or an empty base config
+        morph_node = simulation_cfg.get("morphology", cfg.get("morphology", None))
+
+        if morph_node is not None:
+            # Convert OmegaConf node to dict and instantiate MorphologyConfig.
+            # This ensures any missing keys gracefully fall back to the dataclass defaults.
+            morph_dict = OmegaConf.to_container(morph_node, resolve=True)
+            if isinstance(morph_dict, dict):
+                # Filter to avoid unexpected kwargs if the dataclass is strictly defined
+                if dataclasses.is_dataclass(MorphologyConfig):
+                    valid_keys = {f.name for f in dataclasses.fields(MorphologyConfig)}
+                    morph_dict = {k: v for k, v in morph_dict.items() if k in valid_keys}
+                morph_cfg = MorphologyConfig(**morph_dict)
+            else:
+                morph_cfg = MorphologyConfig()
+        else:
+            morph_cfg = MorphologyConfig()
+
+    morphology = BrittleStarEnvFactory.create_morphology(morph_cfg)
+
+    xml_text = extract_xml_string(morphology)
+    if not xml_text:
+        raise RuntimeError("Failed to serialize morphology to MJCF/XML. ")
+
+    out_path = resolve_output_path(cfg)
+    out_path.parent.mkdir(parents=True, exist_ok=True)
+    with out_path.open("w", encoding="utf-8") as f:
+        f.write(xml_text)
+
+    logger.info(f"Successfully exported MJCF XML to: {out_path}")
+
+
+if __name__ == "__main__":
+    register_configs()
+    main()