def _reset_sim_and_spaces()

in mujoco_worldgen/env.py [0:0]

• 15 lines of code
• 5 McCabe index (conditional complexity)

    def _reset_sim_and_spaces(self):
        obs = self.get_obs(self.sim)

        # Mocaps are defined by 3-dim position and 4-dim quaternion
        if isinstance(self._action_space, tuple):
            assert len(self._action_space) == 2
            self._action_space = Box(
                self._action_space[0], self._action_space[1],
                (self.sim.model.nmocap * 7 + self.sim.model.nu, ), np.float32)
        elif self._action_space is None:
            self._action_space = Box(
                -np.inf, np.inf, (self.sim.model.nmocap * 7 + self.sim.model.nu, ), np.float32)
        self._action_space.flatten_dim = np.prod(self._action_space.shape)

        self._observation_space = gym_space_from_arrays(obs)
        if self.viewer is not None:
            self.viewer.update_sim(self.sim)

        return obs