def _initialize_simulation()

in gym_xarm/tasks/base.py [0:0]

• 10 lines of code
• 1 McCabe index (conditional complexity)

    def _initialize_simulation(self):
        """Initialize MuJoCo simulation data structures mjModel and mjData."""
        self.model = self._mujoco.MjModel.from_xml_path(self.xml_path)
        self.data = self._mujoco.MjData(self.model)
        self._model_names = self._utils.MujocoModelNames(self.model)

        self.model.vis.global_.offwidth = self.observation_width
        self.model.vis.global_.offheight = self.observation_height

        self._env_setup(initial_qpos=self.initial_qpos)
        self.initial_time = self.data.time
        self.initial_qpos = np.copy(self.data.qpos)
        self.initial_qvel = np.copy(self.data.qvel)