def step()

in gym_genesis/tasks/cube_pick.py [0:0]

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

    def step(self, action):
        self.franka.control_dofs_position(action[:, :7], self.motors_dof)
        self.franka.control_dofs_position(action[:, 7:], self.fingers_dof)
        self.scene.step()
        reward = self.compute_reward()
        obs = self.get_obs()
        return None, reward, None, obs