def before_step()

in gym_aloha/tasks/sim.py [0:0]

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

    def before_step(self, action, physics):
        left_arm_action = action[:6]
        right_arm_action = action[7 : 7 + 6]
        normalized_left_gripper_action = action[6]
        normalized_right_gripper_action = action[7 + 6]

        left_gripper_action = unnormalize_puppet_gripper_position(normalized_left_gripper_action)
        right_gripper_action = unnormalize_puppet_gripper_position(normalized_right_gripper_action)

        full_left_gripper_action = [left_gripper_action, -left_gripper_action]
        full_right_gripper_action = [right_gripper_action, -right_gripper_action]

        env_action = np.concatenate(
            [left_arm_action, full_left_gripper_action, right_arm_action, full_right_gripper_action]
        )
        super().before_step(env_action, physics)
        return