def __init__()

in differentiable_robot_model/rigid_body.py [0:0]

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

    def __init__(self, rigid_body_params, device="cpu"):

        super().__init__()

        self._device = torch.device(device)
        self.joint_id = rigid_body_params["joint_id"]
        self.name = rigid_body_params["link_name"]

        # parameters that can be made learnable
        self.inertia = DifferentiableSpatialRigidBodyInertia(
            rigid_body_params, device=self._device
        )
        self.joint_damping = lambda: rigid_body_params["joint_damping"]
        self.trans = lambda: rigid_body_params["trans"].reshape(1, 3)
        self.rot_angles = lambda: rigid_body_params["rot_angles"].reshape(1, 3)
        # end parameters that can be made learnable

        # local joint axis (w.r.t. joint coordinate frame):
        self.joint_axis = rigid_body_params["joint_axis"]

        self.joint_limits = rigid_body_params["joint_limits"]

        self.joint_pose = CoordinateTransform(device=self._device)
        self.joint_pose.set_translation(torch.reshape(self.trans(), (1, 3)))

        # local velocities and accelerations (w.r.t. joint coordinate frame):
        self.joint_vel = SpatialMotionVec(device=self._device)
        self.joint_acc = SpatialMotionVec(device=self._device)

        self.update_joint_state(
            torch.zeros([1, 1], device=self._device),
            torch.zeros([1, 1], device=self._device),
        )
        self.update_joint_acc(torch.zeros([1, 1], device=self._device))

        self.pose = CoordinateTransform(device=self._device)

        self.vel = SpatialMotionVec(device=self._device)
        self.acc = SpatialMotionVec(device=self._device)

        self.force = SpatialForceVec(device=self._device)

        return