Init

legged_gym/envs/base/base_config.py

@@ -0,0 +1,25 @@
+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)