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MushroomRL/mushroom-rl

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mushroom_rl/environments/mujoco.py

Summary

Maintainability
A
1 hr
Test Coverage

File mujoco.py has 531 lines of code (exceeds 250 allowed). Consider refactoring.
Wontfix

import mujoco
import numpy as np
from dm_control import mjcf
from mushroom_rl.core import Environment, MDPInfo
from mushroom_rl.rl_utils.spaces import Box
Severity: Major
Found in mushroom_rl/environments/mujoco.py - About 1 day to fix

    MuJoCo has 29 functions (exceeds 20 allowed). Consider refactoring.
    Wontfix

    class MuJoCo(Environment):
    """
    Class to create a Mushroom environment using the MuJoCo simulator.
    """
    Severity: Minor
    Found in mushroom_rl/environments/mujoco.py - About 3 hrs to fix

      Function __init__ has a Cognitive Complexity of 20 (exceeds 5 allowed). Consider refactoring.
      Wontfix

          def __init__(self, xml_files, actuation_spec, observation_spec, gamma, horizon, timestep=None,
                 n_substeps=1, n_intermediate_steps=1, additional_data_spec=None, collision_groups=None,
                 max_joint_vel=None, random_env_reset=True, **viewer_params):
        """
        Constructor.
      Severity: Minor
      Found in mushroom_rl/environments/mujoco.py - About 2 hrs to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

      Function __init__ has a Cognitive Complexity of 13 (exceeds 5 allowed). Consider refactoring.
      Wontfix

          def __init__(self, xml_file, actuation_spec, observation_spec, gamma, horizon, timestep=None, n_substeps=1,
                 n_intermediate_steps=1, additional_data_spec=None, collision_groups=None, max_joint_vel=None,
                 **viewer_params):
        """
        Constructor.
      Severity: Minor
      Found in mushroom_rl/environments/mujoco.py - About 1 hr to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

      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)
      Severity: Minor
      Found in mushroom_rl/environments/mujoco.py - About 35 mins to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

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

          def _get_collision_force(self, group1, group2):
        """
        Returns the collision force and torques between the specified groups.

        Args:
      Severity: Minor
      Found in mushroom_rl/environments/mujoco.py - About 25 mins to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

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

          def reset(self, obs=None):
        mujoco.mj_resetData(self._model, self._data)

        if self._random_env_reset:
            self._current_model_idx = np.random.randint(0, len(self._models))
      Severity: Minor
      Found in mushroom_rl/environments/mujoco.py - About 25 mins to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

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