def action()

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

• 8 lines of code
• 3 McCabe index (conditional complexity)

    def action(self, action):
        """
        Mujoco env is expecting a 7D action space
        [x, y, z, rx, ry, rz, gripper_open]
        For the moment we only control the x, y, z, gripper
        """

        # action between -1 and 1, scale to step_size
        action_xyz = action[:3] * self._ee_step_size
        # TODO: Extend to enable orientation control
        actions_orn = np.zeros(3)

        gripper_open_command = [0.0]
        if self.use_gripper:
            # NOTE: Normalize gripper action from [0, 2] -> [-1, 1]
            gripper_open_command = [action[-1] - 1.0]

        action = np.concatenate([action_xyz, actions_orn, gripper_open_command])
        return action