Creates a dict of valid attribute from Mujoco array size name.
(size_names, strip_prefixes)
| 61 | |
| 62 | |
| 63 | def _get_attributes(size_names, strip_prefixes): |
| 64 | """Creates a dict of valid attribute from Mujoco array size name.""" |
| 65 | strip_regex = re.compile(r'\A({})_'.format('|'.join(strip_prefixes))) |
| 66 | strip = lambda string: strip_regex.sub('', string) |
| 67 | out = {} |
| 68 | for name, size in sizes.array_sizes['mjdata'].items(): |
| 69 | if size[0] in size_names: |
| 70 | attrib_name = strip(name) |
| 71 | named_indexer_getter = ( |
| 72 | lambda physics, name=name: getattr(physics.named.data, name)) |
| 73 | triggers_dirty = attrib_name in constants.MJDATA_TRIGGERS_DIRTY |
| 74 | out[attrib_name] = _Attribute( |
| 75 | name=attrib_name, |
| 76 | get_named_indexer=named_indexer_getter, |
| 77 | triggers_dirty=triggers_dirty, |
| 78 | disable_on_write=()) |
| 79 | for name, size in sizes.array_sizes['mjmodel'].items(): |
| 80 | if size[0] in size_names: |
| 81 | attrib_name = strip(name) |
| 82 | named_indexer_getter = ( |
| 83 | lambda physics, name=name: getattr(physics.named.model, name)) |
| 84 | triggers_dirty = attrib_name not in constants.MJMODEL_DOESNT_TRIGGER_DIRTY |
| 85 | disable_on_write = constants.MJMODEL_DISABLE_ON_WRITE.get(name, ()) |
| 86 | out[attrib_name] = _Attribute( |
| 87 | name=attrib_name, |
| 88 | get_named_indexer=named_indexer_getter, |
| 89 | triggers_dirty=triggers_dirty, |
| 90 | disable_on_write=disable_on_write) |
| 91 | return out |
| 92 | |
| 93 | |
| 94 | _ATTRIBUTES = { |
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