def compute_target_pose()

in env_humanoid_base.py [0:0]

• 38 lines of code
• 9 McCabe index (conditional complexity)

    def compute_target_pose(self, idx, action):
        agent = self._sim_agent[idx]
        char_info = agent._char_info
        
        ''' the current posture should be deepcopied because action will modify it '''
        if self._action_type == Env.ActionMode.Relative:
            ref_pose = copy.deepcopy(self.get_current_pose_from_motion(idx))
        else:
            ref_pose = copy.deepcopy(self._base_motion[idx].get_pose_by_frame(0))

        a_real = self._action_space[idx].norm_to_real(action)

        dof_cnt = 0
        for j in agent._joint_indices:
            joint_type = agent.get_joint_type(j)
            ''' Fixed joint will not be affected '''
            if joint_type == self._pb_client.JOINT_FIXED:
                continue
            ''' If the joint do not have correspondance, use the reference posture itself'''
            if char_info.bvh_map[j] == None:
                continue
            if self._action_type == Env.ActionMode.Relative:
                T = ref_pose.get_transform(char_info.bvh_map[j], local=True)
            elif self._action_type == Env.ActionMode.Absolute:
                T = ref_pose.skel.get_joint(char_info.bvh_map[j]).xform_from_parent_joint
            else:
                raise NotImplementedError
            R, p = conversions.T2Rp(T)
            if joint_type == self._pb_client.JOINT_SPHERICAL:
                dR = conversions.A2R(a_real[dof_cnt:dof_cnt+3])
                dof_cnt += 3
            elif joint_type == self._pb_client.JOINT_REVOLUTE:
                axis = agent.get_joint_axis(j)
                angle = a_real[dof_cnt:dof_cnt+1]
                dR = conversions.A2R(axis*angle)
                dof_cnt += 1
            else:
                raise NotImplementedError
            T_new = conversions.Rp2T(np.dot(R, dR), p)
            ref_pose.set_transform(char_info.bvh_map[j], T_new, do_ortho_norm=False, local=True)

        return ref_pose