def _apply_action()

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

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

    def _apply_action(self, action):
        assert action.shape == (4,)
        action = action.copy()
        pos_ctrl, gripper_ctrl = action[:3], action[3]
        pos_ctrl = self._limit_gripper(
            self._utils.get_site_xpos(self.model, self.data, "grasp"), pos_ctrl
        ) * (1 / self.n_substeps)
        gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
        mocap.apply_action(
            self.model,
            self._model_names,
            self.data,
            np.concatenate([pos_ctrl, self.gripper_rotation, gripper_ctrl]),
        )