def get_qpos()

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

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

    def get_qpos(physics):
        qpos_raw = physics.data.qpos.copy()
        left_qpos_raw = qpos_raw[:8]
        right_qpos_raw = qpos_raw[8:16]
        left_arm_qpos = left_qpos_raw[:6]
        right_arm_qpos = right_qpos_raw[:6]
        left_gripper_qpos = [normalize_puppet_gripper_position(left_qpos_raw[6])]
        right_gripper_qpos = [normalize_puppet_gripper_position(right_qpos_raw[6])]
        return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos])