def ctrl_set_action()

in mujoco_worldgen/util/sim_funcs.py [0:0]

• 10 lines of code
• 5 McCabe index (conditional complexity)

def ctrl_set_action(sim, action):
    """
    For torque actuators it copies the action into mujoco ctrl field.
    For position actuators it sets the target relative to the current qpos.
    """
    if sim.model.nmocap > 0:
        _, action = np.split(action, (sim.model.nmocap * 7, ))
    if sim.data.ctrl is not None:
        for i in range(action.shape[0]):
            if sim.model.actuator_biastype[i] == 0:
                sim.data.ctrl[i] = action[i]
            else:
                idx = sim.model.jnt_qposadr[sim.model.actuator_trnid[i, 0]]
                sim.data.ctrl[i] = sim.data.qpos[idx] + action[i]