def step()

in gym_hil/wrappers/hil_wrappers.py [0:0]

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

    def step(self, action):
        observation, reward, terminated, truncated, info = self.env.step(action)

        info["discrete_penalty"] = 0.0
        if (action[-1] < -0.5 and self.last_gripper_pos > 0.9) or (
            action[-1] > 0.5 and self.last_gripper_pos < 0.1
        ):
            info["discrete_penalty"] = self.penalty

        self.last_gripper_pos = self.unwrapped.get_gripper_pose() / MAX_GRIPPER_COMMAND
        return observation, reward, terminated, truncated, info