def __init__()

in src/rosbridge/fetch_proxy.py [0:0]

• 26 lines of code
• 6 McCabe index (conditional complexity)

    def __init__(self, api, obs_joints=True, obs_lidar=False, obs_head_depth=True, obs_head_rgb=False, act_torques=True):
        self.api = api
        self.obs_joints = obs_joints
        self.obs_lidar = obs_lidar
        self.obs_head_depth = obs_head_depth
        self.obs_head_rgb = obs_head_rgb
        self.act_torques = act_torques

        obsparts = []
        if self.obs_joints:
            obsparts.append(Box(-4, +4, self.api.cur_joint_pos.shape))
            obsparts.append(Box(-4, +4, self.api.cur_joint_vel.shape))
        if self.obs_lidar:
            obsparts.append(Box(0, +16.0, self.api.cur_base_scan.shape))
        if self.obs_head_depth:
            obsparts.append(Box(0, 5.0, self.api.cur_head_camera_depth_image.shape))
        if self.obs_head_rgb:
            obsparts.append(Box(0, 255, self.api.cur_head_camera_rgb_image.shape))
        self.observation_space = Tuple(obsparts)

        actparts = []
        if self.act_torques:
            actparts.append(Box(-1.0, +1.0, [len(self.api.joint_names)]))
        self.action_space = Tuple(actparts)

        self.reward_range = [-1, +1]
        self.tickrate = rospy.Rate(10)

        self.api.start_timeseq('fetch')
        self.api.start_axis_video()