def apply_action()

in gym_xarm/tasks/mocap.py [0:0]

• 11 lines of code
• 4 McCabe index (conditional complexity)

def apply_action(model, model_names, data, action):
    if model.nmocap > 0:
        pos_action, gripper_action = np.split(action, (model.nmocap * 7,))
        if data.ctrl is not None:
            for i in range(gripper_action.shape[0]):
                data.ctrl[i] = gripper_action[i]
        pos_action = pos_action.reshape(model.nmocap, 7)
        pos_delta, quat_delta = pos_action[:, :3], pos_action[:, 3:]
        reset_mocap2body_xpos(model, model_names, data)
        data.mocap_pos[:] = data.mocap_pos + pos_delta
        data.mocap_quat[:] = data.mocap_quat + quat_delta