def _comp_contact_reward()

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

• 16 lines of code
• 8 McCabe index (conditional complexity)

    def _comp_contact_reward(self, agent):
        # Penalty for pain
        body_ids = [
            agent.body_name_idx[name]
            for name in ['head', 'torso'] if name in agent.body_name_idx
        ]
        forces = np.clip(agent.get_cfrc_ext(body_ids), -100., 100.)
        pain = agent.COST_COEFS['pain'] * np.sum(np.abs(forces))
        # Reward for attacking opponents
        attack = 0.
        for other in agent._opponents:
            body_ids = [
                other.body_name_idx[name]
                for name in ['head', 'torso'] if name in other.body_name_idx
            ]
            forces = np.clip(other.get_cfrc_ext(body_ids), -100., 100.)
            attack += agent.COST_COEFS['attack'] * np.sum(np.abs(forces))
        return attack - pain