def from_flattened()

in mujoco_py/mjsimstate.pyx [0:0]

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

    def from_flattened(array, sim):
        idx_time = 0
        idx_qpos = idx_time + 1
        idx_qvel = idx_qpos + sim.model.nq
        idx_act = idx_qvel + sim.model.nv
        idx_udd = idx_act + sim.model.na

        time = array[idx_time]
        qpos = array[idx_qpos:idx_qpos + sim.model.nq]
        qvel = array[idx_qvel:idx_qvel + sim.model.nv]
        if sim.model.na == 0:
            act = None
        else:
            act = array[idx_act:idx_act + sim.model.na]
        flat_udd_state = array[idx_udd:]
        udd_state = MjSimState._unflatten_dict(flat_udd_state, sim.udd_state)

        return MjSimState(time, qpos, qvel, act, udd_state)