def _set_joint()

in robosumo/envs/agents.py [0:0]

• 13 lines of code
• 4 McCabe index (conditional complexity)

    def _set_joint(self):
        self.joint_names = list(filter(
            lambda x: self._in_scope(x), self._env.model.joint_names
        ))
        self.joint_ids = [
            self._env.model.joint_names.index(name) for name in self.joint_names
        ]

        # Determine joint params
        self.jnt_qposadr = self._env.model.jnt_qposadr[self.joint_ids]
        self.jnt_type = self._env.model.jnt_type[self.joint_ids]
        self.jnt_nqpos = [self.JNT_NPOS[int(j)] for j in self.jnt_type]
        self.nq = sum(self.jnt_nqpos)
        # Determine qpos_start_idx and qpos_end_idx
        self.qpos_start_idx = int(self.jnt_qposadr[0])
        self.qpos_end_idx = int(self.jnt_qposadr[-1] + self.jnt_nqpos[-1])