def sim_step()

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

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

    def sim_step(self,state,torque):
        for link_idx in self.controlled_joints:
            self.sim.changeDynamics(self.robot_id, link_idx, linearDamping=0.0, angularDamping=0.0, jointDamping=0.0)
        if str(state.dtype).startswith('torch'):
            state = state.clone().detach().numpy()
        if str(torque.dtype).startswith('torch'):
            torque = torque.clone().detach().numpy()
        return self.reset_then_step(state,torque)