def set_substep_callback()

in mujoco_py/mjsim.pyx [0:0]

• 24 lines of code
• 5 McCabe index (conditional complexity)

    def set_substep_callback(self, substep_callback, userdata_names=None):
        '''
        Set a substep callback function.

        Parameters :
            substep_callback : str or int or None
                If `substep_callback` is a string, compile to function pointer and set.
                    See `builder.build_callback_fn()` for documentation.
                If `substep_callback` is an int, we interpret it as a function pointer.
                If `substep_callback` is None, we disable substep_callbacks.
            userdata_names : list of strings or None
                This is a convenience parameter, if not None, this is passed
                onto ``model.set_userdata_names()``.
        '''
        if userdata_names is not None:
            self.model.set_userdata_names(userdata_names)
        if substep_callback is None:
            self.substep_callback_ptr = 0
        elif isinstance(substep_callback, int):
            self.substep_callback_ptr = substep_callback
        elif isinstance(substep_callback, str):
            self.substep_callback_ptr = build_callback_fn(substep_callback,
                                                          self.model.userdata_names)
        else:
            raise TypeError('invalid: {}'.format(type(substep_callback)))