def opspace()

in gym_hil/controllers/opspace.py [0:0]

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

def opspace(
    model,
    data,
    site_id,
    dof_ids: np.ndarray,
    pos: Optional[np.ndarray] = None,
    ori: Optional[np.ndarray] = None,
    joint: Optional[np.ndarray] = None,
    pos_gains: Union[Tuple[float, float, float], np.ndarray] = (200.0, 200.0, 200.0),
    ori_gains: Union[Tuple[float, float, float], np.ndarray] = (200.0, 200.0, 200.0),
    damping_ratio: float = 1.0,
    nullspace_stiffness: float = 0.5,
    max_pos_acceleration: Optional[float] = None,
    max_ori_acceleration: Optional[float] = None,
    gravity_comp: bool = True,