def __init__()

in inverse_dynamics_model.py [0:0]

• 13 lines of code
• 3 McCabe index (conditional complexity)

    def __init__(self, idm_net_kwargs, pi_head_kwargs, device=None):
        if device is None:
            device = default_device_type()
        self.device = th.device(device)
        # Set the default torch device for underlying code as well
        set_default_torch_device(self.device)
        self.action_mapper = IDMActionMapping(n_camera_bins=11)
        action_space = self.action_mapper.get_action_space_update()
        action_space = DictType(**action_space)

        self.action_transformer = ActionTransformer(**ACTION_TRANSFORMER_KWARGS)

        idm_policy_kwargs = dict(idm_net_kwargs=idm_net_kwargs, pi_head_kwargs=pi_head_kwargs, action_space=action_space)

        self.policy = InverseActionPolicy(**idm_policy_kwargs).to(device)
        self.hidden_state = self.policy.initial_state(1)
        self._dummy_first = th.from_numpy(np.array((False,))).to(device)