def get_obs()

in robosumo/envs/agents.py [0:0]

• 21 lines of code
• 4 McCabe index (conditional complexity)

    def get_obs(self):
        # Observe self
        self_forces = np.abs(np.clip(
            self.get_cfrc_ext(), -self.CFRC_CLIP, self.CFRC_CLIP))
        obs  = [
            self.get_qpos().flat,           # self all positions
            self.get_qvel().flat,           # self all velocities
            self_forces.flat,               # self all forces
        ]
        # Observe opponents
        for opp in self._opponents:
            body_ids = [
                opp.body_name_idx[name]
                for name in ['torso']
                if name in opp.body_name_idx
            ]
            opp_forces = np.abs(np.clip(
                opp.get_cfrc_ext(body_ids), -self.CFRC_CLIP, self.CFRC_CLIP))
            obs.extend([
                opp.get_qpos()[:7].flat,    # opponent torso position
                opp_forces.flat,            # opponent torso forces
            ])
        return np.concatenate(obs)