def step_udd()

in mujoco_py/mjsim.pyx [0:0]

• 19 lines of code
• 6 McCabe index (conditional complexity)

    def step_udd(self):
        if self._udd_callback is None:
            self.udd_state = {}
        else:
            schema_example = self.udd_state
            self.udd_state = self._udd_callback(self)
            # Check to make sure the udd_state has consistent keys and dimension across steps
            if schema_example is not None:
                keys = set(schema_example.keys()) | set(self.udd_state.keys())
                for key in keys:
                    assert key in schema_example, "Keys cannot be added to udd_state between steps."
                    assert key in self.udd_state, "Keys cannot be dropped from udd_state between steps."
                    if isinstance(schema_example[key], Number):
                        assert isinstance(self.udd_state[key], Number), \
                            "Every value in udd_state must be either a number or a numpy array"
                    else:
                        assert isinstance(self.udd_state[key], np.ndarray), \
                            "Every value in udd_state must be either a number or a numpy array"
                        assert self.udd_state[key].shape == schema_example[key].shape, \
                            "Numpy array values in udd_state must keep the same dimension across steps."