def step()

in gym_xarm/tasks/base.py [0:0]

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

    def step(self, action):
        assert action.shape == (4,)
        assert self.action_space.contains(action), f"{action!r} ({type(action)}) invalid"
        self._apply_action(action)
        self._mujoco.mj_step(self.model, self.data, nstep=2)
        self._step_callback()
        observation = self.get_obs()
        reward = self.get_reward()
        terminated = is_success = self.is_success()
        truncated = False
        info = {"is_success": is_success}

        return observation, reward, terminated, truncated, info