def _get_obs_relative()

in gym-compete/gym_compete/new_envs/agents/humanoid.py [0:0]

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

    def _get_obs_relative(self):
        '''
        Return agent's observations, positions are relative
        '''
        qpos = self.get_qpos()
        my_pos = qpos[2:]
        other_agents_qpos = self.get_other_agent_qpos()
        all_other_qpos = []
        for i in range(self.n_agents):
            if i == self.id: continue
            other_qpos = other_agents_qpos[i]
            other_relative_xy = other_qpos[:2] - qpos[:2]
            other_qpos = np.concatenate([other_relative_xy.flat, other_qpos[2:].flat], axis=0)
            all_other_qpos.append(other_qpos)
        all_other_qpos = np.concatenate(all_other_qpos)

        vel = self.get_qvel()
        cfrc_ext = np.clip(self.get_cfrc_ext(), -1, 1)
        cvel = self.get_cvel()
        cinert = self.get_cinert()
        qfrc_actuator = self.get_qfrc_actuator()

        obs = np.concatenate(
            [my_pos.flat, vel.flat,
             cinert.flat, cvel.flat,
             qfrc_actuator.flat, cfrc_ext.flat,
             all_other_qpos.flat]
        )
        assert np.isfinite(obs).all(), "Humanoid observation is not finite!!"
        return obs