def full_state_space()

in pybulletX/robot_interface_mixin.py [0:0]

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

    def full_state_space(self):
        info = self.get_joint_infos()
        return SpaceDict(
            joint_position=Box(
                low=info.joint_lower_limit,
                high=info.joint_upper_limit,
                shape=[self.num_dofs],
                dtype=np.float64,
            ),
            joint_velocity=Box(
                low=-info.joint_max_velocity,
                high=info.joint_max_velocity,
                shape=[self.num_dofs],
                dtype=np.float64,
            ),
            joint_reaction_forces=Box(
                low=-np.inf, high=np.inf, shape=[self.num_dofs, 6], dtype=np.float64
            ),
            applied_joint_motor_torque=Box(
                low=-np.inf, high=np.inf, shape=[self.num_dofs], dtype=np.float64
            ),
        )