def _get_obs()

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

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

    def _get_obs(self):
        return np.concatenate(
            [
                self.eef,
                self.eef_velp,
                self.obj,
                self.obj_rot,
                self.obj_velp,
                self.obj_velr,
                self.eef - self.obj,
                np.array(
                    [
                        np.linalg.norm(self.eef - self.obj),
                        np.linalg.norm(self.eef[:-1] - self.obj[:-1]),
                        self.z_target,
                        self.z_target - self.obj[-1],
                        self.z_target - self.eef[-1],
                    ]
                ),
                self.gripper_angle,
            ],
            axis=0,
        )