def __init__()

in ml3/envs/bullet_sim.py [0:0]

• 21 lines of code
• 2 McCabe index (conditional complexity)

    def __init__(self, rel_mjcf_path, gui, controlled_joints, ee_idx, torque_limits):
        super(BulletSimulationFromMJCF, self).__init__(gui, controlled_joints, ee_idx, torque_limits, None)
        print('hierhierhierhier')

        xml_path = os.getcwd()+'/envs/'+rel_mjcf_path
        if rel_mjcf_path[0] != os.sep: xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), rel_mjcf_path)
        else: xml_path = rel_mjcf_path

        #xml_path = '/Users/sarah/Documents/GitHub/LearningToLearn/ml3/envs/mujoco_robots/reacher.xml'
        print("loading this mjcf file: {}".format(xml_path))

        self.world_id, self.robot_id = self.sim.loadMJCF(xml_path)

        pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
        print(pybullet_data.getDataPath())
        self.planeId = pybullet.loadURDF("plane.urdf")
        #self.cubeId = pybullet.loadURDF("sphere_small.urdf", [0.02534078, -0.19863741, 0.01]) #0.02534078, -0.19863741 0.10534078, 0.1663741

        self.n_dofs = len(controlled_joints)
        self.sim.setGravity(0, 0, -9.81)
        dt = 1.0/100.0
        self.dt = dt
        self.sim.setTimeStep(dt)
        self.sim.setRealTimeSimulation(0)
        self.sim.setJointMotorControlArray(self.robot_id,
                                           self.controlled_joints,
                                           pybullet.VELOCITY_CONTROL,
                                           forces=np.zeros(self.n_dofs))