def reset()

in roboschool/gym_urdf_robot_env.py [0:0]

• 42 lines of code
• 12 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()

        pose = cpp_household.Pose()
        #import time
        #t1 = time.time()
        self.urdf = self.scene.cpp_world.load_urdf(
            os.path.join(os.path.dirname(__file__), "models_robot", self.model_urdf),
            pose,
            self.fixed_base,
            self.self_collision)
        #t2 = time.time()
        #print("URDF load %0.2fms" % ((t2-t1)*1000))

        self.ordered_joints = []
        self.jdict = {}
        self.parts = {}
        self.frame = 0
        self.done = 0
        self.reward = 0
        dump = 0
        r = self.urdf
        self.cpp_robot = r
        if dump: print("ROBOT '%s'" % r.root_part.name)
        if r.root_part.name==self.robot_name:
            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.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, j.max_velocity = j.limits()[2:4]
            self.ordered_joints.append(j)
            self.jdict[j.name] = j
        #print("ordered_joints", len(self.ordered_joints))
        self.robot_specific_reset()
        self.cpp_robot.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