Method disable

dm_control/mujoco/wrapper/core.py:382–418

Context manager for temporarily disabling MuJoCo flags. Args: *flags: Positional arguments specifying flags to disable. Can be either lowercase strings (e.g. 'gravity', 'contact') or `mjtDisableBit` enum values. Yields: None Raises: ValueError: If any

(self, *flags)

  @contextlib.contextmanager
  def disable(self, *flags):
    """Context manager for temporarily disabling MuJoCo flags.

    Args:
      *flags: Positional arguments specifying flags to disable. Can be either
        lowercase strings (e.g. 'gravity', 'contact') or `mjtDisableBit` enum
        values.

    Yields:
      None

    Raises:
      ValueError: If any item in `flags` is neither a valid name nor a value
        from `mujoco.mjtDisableBit`.
    """
    old_bitmask = self.opt.disableflags
    new_bitmask = old_bitmask
    for flag in flags:
      if isinstance(flag, str):
        try:
          field_name = "mjDSBL_" + flag.upper()
          flag = getattr(mujoco.mjtDisableBit, field_name)
        except AttributeError:
          valid_names = [
              field_name.split("_")[1].lower()
              for field_name in list(mujoco.mjtDisableBit.__members__)[:-1]
          ]
          raise ValueError("'{}' is not a valid flag name. Valid names: {}"
                           .format(flag, ", ".join(valid_names))) from None
      elif isinstance(flag, int):
        flag = mujoco.mjtDisableBit(flag)
      new_bitmask |= flag.value
    self.opt.disableflags = new_bitmask
    try:
      yield
    finally:
      self.opt.disableflags = old_bitmask

  @property
  def name(self):