def get_observation()

in bisk/tasks/hurdleslimbo.py [0:0]

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

    def get_observation(self):
        no = self.next_obstacle_index()
        if no < len(self.obstacle_pos):
            next_obstacle_type = self.obstacle_type[no]
            xpos = self.robot_pos[0]
            nm = self.p.named.model
            if next_obstacle_type == 0:
                next_obstacle_d = nm.geom_pos[f'hurdle-{no}'][0] - xpos
                next_obstacle_h = nm.geom_pos[f'hurdle-{no}'][2] * 2
            else:
                next_obstacle_d = nm.geom_pos[f'bar-{no}'][0] - xpos
                next_obstacle_h = (
                    nm.geom_pos[f'bar-{no}'][2] + nm.geom_size[f'bar-{no}'][0]
                )
        else:
            next_obstacle_d = 10.0
            next_obstacle_h = 0.1
        next_obstacle_cleared = no < self.max_obstacles_cleared
        return {
            'observation': super().get_observation(),
            'next_obstacle': np.array(
                [
                    next_obstacle_type,
                    next_obstacle_d,
                    next_obstacle_h,
                    not next_obstacle_cleared,
                ]
            ),
        }