def reset()

in roboschool/gym_mujoco_xml_env.py [0:0]

• 40 lines of code
• 14 McCabe index (conditional complexity)

    def reset(self):
        if self.scene is None:
            self.scene = self.create_single_player_scene()
        if not self.scene.multiplayer:
            self.scene.episode_restart()
        self.mjcf = self.scene.cpp_world.load_mjcf(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml))
        self.ordered_joints = []
        self.jdict = {}
        self.parts = {}
        self.frame = 0
        self.done = 0
        self.reward = 0
        dump = 0
        for r in self.mjcf:
            if dump: print("ROBOT '%s'" % r.root_part.name)
            if r.root_part.name==self.robot_name:
                self.cpp_robot = r
                self.robot_body = r.root_part
            for part in r.parts:
                if dump: print("\tPART '%s'" % part.name)
                self.parts[part.name] = part
                if part.name==self.robot_name:
                    self.cpp_robot = r
                    self.robot_body = part
            for j in r.joints:
                if dump: print("\tALL JOINTS '%s' limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((j.name,) + j.limits()) )
                if j.name[:6]=="ignore":
                    j.set_motor_torque(0)
                    continue
                j.power_coef = 100.0
                self.ordered_joints.append(j)
                self.jdict[j.name] = j
        assert(self.cpp_robot)
        self.robot_specific_reset()
        for r in self.mjcf:
            r.query_position()
        s = self.calc_state()    # optimization: calc_state() can calculate something in self.* for calc_potential() to use
        self.potential = self.calc_potential()
        self.camera = self.scene.cpp_world.new_camera_free_float(self.VIDEO_W, self.VIDEO_H, "video_camera")
        return s