unitree_rl_gym/legged_gym/envs/base/base_config.py

25 lines
963 B
Python

import inspect
class BaseConfig:
def __init__(self) -> None:
""" Initializes all member classes recursively. Ignores all namse starting with '__' (buit-in methods)."""
self.init_member_classes(self)
@staticmethod
def init_member_classes(obj):
# iterate over all attributes names
for key in dir(obj):
# disregard builtin attributes
# if key.startswith("__"):
if key=="__class__":
continue
# get the corresponding attribute object
var = getattr(obj, key)
# check if it the attribute is a class
if inspect.isclass(var):
# instantate the class
i_var = var()
# set the attribute to the instance instead of the type
setattr(obj, key, i_var)
# recursively init members of the attribute
BaseConfig.init_member_classes(i_var)