def _get_parent_object_of_param()

in differentiable_robot_model/robot_model.py [0:0]

• 12 lines of code
• 3 McCabe index (conditional complexity)

    def _get_parent_object_of_param(self, link_name: str, parameter_name: str):
        body_idx = self._name_to_idx_map[link_name]
        if parameter_name in ["trans", "rot_angles", "joint_damping"]:
            parent_object = self._bodies[body_idx]
        elif parameter_name in ["mass", "inertia_mat", "com"]:
            parent_object = self._bodies[body_idx].inertia
        else:
            raise AttributeError(
                "Invalid parameter name. Accepted parameter names are: "
                "trans, rot_angles, joint_damping, mass, inertia_mat, com"
            )
        return parent_object