def get_robot_state()

in gym_hil/mujoco_gym_env.py [0:0]

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

    def get_robot_state(self):
        """Get the current state of the robot."""
        tcp_pos = self._data.sensor("2f85/pinch_pos").data
        # tcp_quat = self._data.sensor("2f85/pinch_quat").data
        # tcp_vel = self._data.sensor("2f85/pinch_vel").data
        # tcp_angvel = self._data.sensor("2f85/pinch_angvel").data
        qpos = self.data.qpos[self._panda_dof_ids].astype(np.float32)
        qvel = self.data.qvel[self._panda_dof_ids].astype(np.float32)
        gripper_pose = self.get_gripper_pose()

        return np.concatenate([qpos, qvel, gripper_pose, tcp_pos])