def __init__()

in experiments/grasp_stability/robot.py [0:0]

• 35 lines of code
• 4 McCabe index (conditional complexity)

    def __init__(self, robotID):
        self.robotID = robotID

        # Get link/joint ID for arm
        self.armNames = [
            "right_j0",
            "right_j1",
            "right_j2",
            "right_j3",
            "right_j4",
            "right_j5",
            "right_j6",
        ]
        self.armJoints = self.get_id_by_name(self.armNames)
        self.armControlID = self.get_control_id_by_name(self.armNames)

        # Get link/joint ID for gripper
        self.gripperNames = [
            "base_joint_gripper_left",
            "base_joint_gripper_right",
        ]
        self.gripperJoints = self.get_id_by_name(self.gripperNames)
        self.gripperControlID = self.get_control_id_by_name(self.gripperNames)

        # Get ID for end effector
        self.eeName = ["right_hand"]
        self.eefID = self.get_id_by_name(self.eeName)[0]

        self.armHome = [
            -0.01863332,
            -1.30851021,
            -0.55159919,
            1.58025131,
            0.14144625,
            1.33963365,
            -1.98302146,
        ]
        self.pos = [0.53, 0, 0.215]
        # self.ori = [0, 1.5708, 1.5708]
        self.ori = [0, 3.14, np.pi / 2]
        self.width = 0.11

        self.tol = 1e-9

        self.init_robot()