def __init__()

in safety_gym/envs/world.py [0:0]

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

    def __init__(self, path):
        base_path = os.path.join(BASE_DIR, path)
        self.sim = MjSim(load_model_from_path(base_path))
        self.sim.forward()

        # Needed to figure out z-height of free joint of offset body
        self.z_height = self.sim.data.get_body_xpos('robot')[2]
        # Get a list of geoms in the robot
        self.geom_names = [n for n in self.sim.model.geom_names if n != 'floor']
        # Needed to figure out the observation spaces
        self.nq = self.sim.model.nq
        self.nv = self.sim.model.nv
        # Needed to figure out action space
        self.nu = self.sim.model.nu
        # Needed to figure out observation space
        # See engine.py for an explanation for why we treat these separately
        self.hinge_pos_names = []
        self.hinge_vel_names = []
        self.ballquat_names = []
        self.ballangvel_names = []
        self.sensor_dim = {}
        for name in self.sim.model.sensor_names:
            id = self.sim.model.sensor_name2id(name)
            self.sensor_dim[name] = self.sim.model.sensor_dim[id]
            sensor_type = self.sim.model.sensor_type[id]
            if self.sim.model.sensor_objtype[id] == const.OBJ_JOINT:
                joint_id = self.sim.model.sensor_objid[id]
                joint_type = self.sim.model.jnt_type[joint_id]
                if joint_type == const.JNT_HINGE:
                    if sensor_type == const.SENS_JOINTPOS:
                        self.hinge_pos_names.append(name)
                    elif sensor_type == const.SENS_JOINTVEL:
                        self.hinge_vel_names.append(name)
                    else:
                        t = self.sim.model.sensor_type[i]
                        raise ValueError('Unrecognized sensor type {} for joint'.format(t))
                elif joint_type == const.JNT_BALL:
                    if sensor_type == const.SENS_BALLQUAT:
                        self.ballquat_names.append(name)
                    elif sensor_type == const.SENS_BALLANGVEL:
                        self.ballangvel_names.append(name)
                elif joint_type == const.JNT_SLIDE:
                    # Adding slide joints is trivially easy in code,
                    # but this removes one of the good properties about our observations.
                    # (That we are invariant to relative whole-world transforms)
                    # If slide joints are added we sould ensure this stays true!
                    raise ValueError('Slide joints in robots not currently supported')