def initialize()

in robogym/envs/dactyl/common/mujoco_modifiers.py [0:0]

• 28 lines of code
• 7 McCabe index (conditional complexity)

    def initialize(self, sim):
        super().initialize(sim)

        cubelet_body_names = [
            x for x in self.sim.model.body_names if x.startswith(self.body_name_prefix)
        ]

        self.cubelet_body_ids = np.array(
            [self.sim.model.body_name2id(x) for x in cubelet_body_names]
        )

        cubelet_geom_names = [
            x for x in self.sim.model.geom_names if x.startswith(self.body_name_prefix)
        ]

        self.cubelet_geom_ids = np.array(
            [self.sim.model.geom_name2id(x) for x in cubelet_geom_names]
        )

        cube_mesh_id = self.sim.model.mesh_name2id(self.mesh_name)

        self.cube_vert_adr = self.sim.model.mesh_vertadr[cube_mesh_id]
        self.cube_vert_num = self.sim.model.mesh_vertnum[cube_mesh_id]

        self.original_cube_body_pos = self.sim.model.body_pos[
            self.cubelet_body_ids
        ].copy()

        self.original_mesh_verts = (
            self.sim.model.mesh_vert[
                self.cube_vert_adr: self.cube_vert_adr + self.cube_vert_num
            ]
        ).copy()

        self.original_geom_rbound = self.sim.model.geom_rbound[
            self.cubelet_geom_ids
        ].copy()