def before_step()

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

• 11 lines of code
• 2 McCabe index (conditional complexity)

    def before_step(self, action, physics):
        a_len = len(action) // 2
        action_left = action[:a_len]
        action_right = action[a_len:]

        # set mocap position and quat
        # left
        np.copyto(physics.data.mocap_pos[0], action_left[:3])
        np.copyto(physics.data.mocap_quat[0], action_left[3:7])
        # right
        np.copyto(physics.data.mocap_pos[1], action_right[:3])
        np.copyto(physics.data.mocap_quat[1], action_right[3:7])

        # set gripper
        g_left_ctrl = unnormalize_puppet_gripper_position(action_left[7])
        g_right_ctrl = unnormalize_puppet_gripper_position(action_right[7])
        np.copyto(physics.data.ctrl, np.array([g_left_ctrl, -g_left_ctrl, g_right_ctrl, -g_right_ctrl]))