Consider simplifying this complex logical expression.

Open

            if obs_type is PyBulletObservationType.BODY_POS \
               or obs_type is PyBulletObservationType.BODY_LIN_VEL \
               or obs_type is PyBulletObservationType.BODY_ANG_VEL:
                n_dim = 7 if obs_type is PyBulletObservationType.BODY_POS else 3
                low += [-np.inf] * n_dim

Function render has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def render(self, record=False):
        if self._first or self._not_pybullet:
            img = self.env.render()

            if self._first:

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Function _load_all_models has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def _load_all_models(self, files, enforce_joint_velocity_limits):
        for file_name, kwargs in files.items():
            model_id = self._load_model(file_name, kwargs)
            model_name = self._client.getBodyInfo(model_id)[1].decode('UTF-8')
            self._model_map[model_name] = model_id

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Function get_mask has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def get_mask(self, last):
        terminated_episodes = (last & self._running_envs).sum().item()
        running_episodes = (~last & self._running_envs).sum().item()

        first_batch = running_episodes == 0 and terminated_episodes == 0

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Function from_array has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def from_array(cls, states, actions, rewards, next_states, absorbings, lasts, policy_states=None,
                   policy_next_states=None):
        is_stateful = (policy_states is not None) and (policy_next_states is not None)

        dataset = cls(is_stateful, False)

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Function fit has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def fit(self, dataset):
        state, action, reward, next_state, absorbing, _ = dataset.parse(to='numpy')
        for _ in trange(self._n_iterations(), dynamic_ncols=True, disable=self._quiet, leave=False):
            if self._target is None:
                self._target = reward

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Function initialize_run has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def initialize_run(self, n_steps, n_episodes, initial_states, quiet):
        assert n_episodes is not None and n_steps is None and initial_states is None\
            or n_episodes is None and n_steps is not None and initial_states is None\
            or n_episodes is None and n_steps is None and initial_states is not None

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Function compute_contacts has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def compute_contacts(self):
        if len(self._contact_list) == 0:
            return

        self._reset_computed_contacts()

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Function step has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def step(self, action):
        cur_obs = self._obs.copy()

        action = self._preprocess_action(action)

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Function _load_numpy has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def _load_numpy(self):
        for file in self._results_dir.iterdir():
            if file.is_file() and file.suffix == '.npy':
                if file.stem.endswith(self._suffix):
                    name = re.split(r'-\d+$', file.stem)[0]

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Function _reset_computed_contacts has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def _reset_computed_contacts(self):
        for contact in self._contact_name_map.values():
            model_a, model_b, link_a, link_b = self._order_contact(*contact)

            if model_a not in self._computed_contacts:

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Function __init__ has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def __init__(self, dimensions=None, degrees=None, low=None, high=None):
        """
        Constructor. If both parameters are None, the constant feature is built.

        Args:

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Function fit has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def fit(self, dataset):
        self._replay_memory.add(dataset, np.ones(len(dataset)) * self._replay_memory.max_priority,
                                n_steps_return=self._n_steps_return, gamma=self.mdp_info.gamma)
        if self._replay_memory.initialized:
            state, action, reward, next_state, absorbing, _, idxs, is_weight = \

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Function __init__ has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def __init__(self, mdp_info, policy, approximator, approximator_params, batch_size, target_update_frequency,
                 replay_memory=None, initial_replay_size=500, max_replay_size=5000, fit_params=None,
                 predict_params=None, clip_reward=False):
        """
        Constructor.

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Function step_all has a Cognitive Complexity of 7 (exceeds 5 allowed). Consider refactoring.

Open

    def step_all(self, env_mask, action):
        for i, remote in enumerate(self._remotes):
            if env_mask[i]:
                remote.send(('step', action[i, :]))

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Avoid too many return statements within this function.

Open

            return False

Avoid too many return statements within this function.

Open

            return False

Function from_array has a Cognitive Complexity of 6 (exceeds 5 allowed). Consider refactoring.

Open

    def from_array(cls, states, actions, rewards, next_states, absorbings, lasts,
                   policy_states=None, policy_next_states=None):
        if not isinstance(states, np.ndarray):
            states = states.numpy()
            actions = actions.numpy()

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Function _simulation_post_step has a Cognitive Complexity of 6 (exceeds 5 allowed). Consider refactoring.

Open

    def _simulation_post_step(self):
        if not self.has_hit:
            collision_count = len(self.client.getContactPoints(self._model_map['puck'],
                                                               self._indexer.link_map['planar_robot_1/'
                                                                                      'link_striker_ee'][0],

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Function apply_control has a Cognitive Complexity of 6 (exceeds 5 allowed). Consider refactoring.

Open

    def apply_control(self, action):

        i = 0
        for model_id, joint_id, mode in self.action_data:
            u = action[i]

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