def __init__()

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

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

    def __init__(self, model_path, frame_skip):
        if model_path.startswith("/"):
            fullpath = model_path
        else:
            fullpath = os.path.join(os.path.dirname(__file__), "assets", model_path)
        if not os.path.exists(fullpath):
            raise IOError("File %s does not exist" % fullpath)
        self.frame_skip = frame_skip
        self.model = load_model_from_path(fullpath)
        self.sim = MjSim(self.model)
        self.data = self.sim.data
        self.viewer = None
        self.buffer_size = (1600, 1280)

        self.metadata = {
            'render.modes': ['human', 'rgb_array'],
            'video.frames_per_second': 60,
        }

        self.init_qpos = self.data.qpos.ravel().copy()
        self.init_qvel = self.data.qvel.ravel().copy()
        observation, _reward, done, _info = self._step(np.zeros(self.model.nu))
        assert not done
        self.obs_dim = np.sum([o.size for o in observation]) if (
            type(observation) is tuple) else observation.size

        bounds = self.model.actuator_ctrlrange.copy()
        low, high = bounds[:, 0], bounds[:, 1]
        self.action_space = spaces.Box(low, high)

        high = np.inf * np.ones(self.obs_dim)
        self.observation_space = spaces.Box(-high, high)

        self._seed()