Source code for irsim.config.world_param

"""
World parameters.

Attributes:
    time: time elapse of the simulation
    control_mode: 'auto' (robot controlled automatically) or 'keyboard' (robot controlled by keyboard)
    collision_mode: 'stop' (default, all objects stop on collision), 'unobstructed' (no collision check),
        or 'unobstructed_obstacles' (only obstacles pass through each other)
    step_time: time of the simulation step, default is 0.1
    count: count of the simulation, time = count * step_time
"""

from dataclasses import dataclass




@dataclass
class WorldParam:
    time: float = 0.0
    control_mode: str = "auto"
    collision_mode: str = "stop"
    step_time: float = 0.1
    count: int = 0



# Multi-env storage (default index 0)
_instances: list[WorldParam] = [WorldParam()]
_current = _instances[0]




def bind(instance: WorldParam) -> None:
    """Bind instance to default index 0 and update current alias."""
    global _current
    if _instances:
        _instances[0] = instance
    else:
        _instances.append(instance)
    _current = instance



def __getattr__(name: str):
    return getattr(_current, name)


def __setattr__(name: str, value):
    setattr(_current, name, value)


def __getitem__(index: int) -> WorldParam:
    return _instances[index]


def __setitem__(index: int, instance: WorldParam) -> None:
    """Assign a WorldParam at a specific index. Extends list if needed."""
    global _current
    if index < 0:
        raise IndexError("world_param index must be non-negative")
    if index >= len(_instances):
        _instances.extend(WorldParam() for _ in range(index - len(_instances) + 1))
    _instances[index] = instance
    if index == 0:
        _current = instance