def apply_joint_torque()

in ml3/envs/bullet_sim.py [0:0]

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

    def apply_joint_torque(self, torque):


        self.grav_comp = self.inverse_dynamics([0] * self.action_dim)
        torque = torque + self.grav_comp
        full_torque = torque.copy()


        #torque = torque.clip(-self.torque_limits, self.torque_limits)

        self.sim.setJointMotorControlArray(bodyIndex=self.robot_id,
                                           jointIndices=self.controlled_joints,
                                           controlMode=pybullet.TORQUE_CONTROL,
                                           forces=torque)
        self.sim.stepSimulation()

        cur_joint_states = self.sim.getJointStates(self.robot_id, self.controlled_joints)
        cur_joint_angles = [cur_joint_states[i][0] for i in range(self.n_dofs)]
        cur_joint_vel = [cur_joint_states[i][1] for i in range(self.n_dofs)]

        next_state = cur_joint_angles + cur_joint_vel

        ls = list(self.sim.getLinkState(self.robot_id, self.ee_idx)[0])
        self.cur_joint_pos = self.get_current_joint_pos()
        self.cur_joint_vel = self.get_current_joint_vel()
        self.curr_ee = self.get_current_ee_state()
        return np.hstack([self.cur_joint_pos,self.cur_joint_vel]),self.curr_ee