Method as_dict

dm_control/composer/entity.py:93–119

Returns an OrderedDict of observables belonging to this Entity. The returned observables will include any added using the _add_observable method, as well as any generated by a method decorated with the @define.observable annotation. Args: fully_qualified: (bool) Whether the d

(self, fully_qualified=True)

    return self._keys_helper

  def as_dict(self, fully_qualified=True):
    """Returns an OrderedDict of observables belonging to this Entity.

    The returned observables will include any added using the _add_observable
    method, as well as any generated by a method decorated with the
    @define.observable annotation.

    Args:
      fully_qualified: (bool) Whether the dict keys should be prefixed with the
        parent entity's full model identifier.
    """

    if fully_qualified:
      # We need to make sure that this property doesn't raise an AttributeError,
      # otherwise __getattr__ is executed and we get a very funky error.
      try:
        model_identifier = self._entity.mjcf_model.full_identifier
      except AttributeError as exc:
        raise ValueError(
            'Cannot retrieve the full identifier of mjcf_model.') from exc

      return collections.OrderedDict(
          [(os.path.join(model_identifier, name), observable)
           for name, observable in self._observables.items()])
    else:
      # Return a copy to prevent dict being edited.
      return self._observables.copy()

  def get_observable(self, name, name_fully_qualified=False):
    """Returns the observable with the given name.