def get_qvel()

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

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

    def get_qvel(physics):
        qvel_raw = physics.data.qvel.copy()
        left_qvel_raw = qvel_raw[:8]
        right_qvel_raw = qvel_raw[8:16]
        left_arm_qvel = left_qvel_raw[:6]
        right_arm_qvel = right_qvel_raw[:6]
        left_gripper_qvel = [normalize_puppet_gripper_velocity(left_qvel_raw[6])]
        right_gripper_qvel = [normalize_puppet_gripper_velocity(right_qvel_raw[6])]
        return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel])