def _limit_gripper()

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

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

    def _limit_gripper(self, gripper_pos, pos_ctrl):
        if gripper_pos[0] > self.center_of_table[0] - 0.105 + 0.15:
            pos_ctrl[0] = min(pos_ctrl[0], 0)
        if gripper_pos[0] < self.center_of_table[0] - 0.105 - 0.3:
            pos_ctrl[0] = max(pos_ctrl[0], 0)
        if gripper_pos[1] > self.center_of_table[1] + 0.3:
            pos_ctrl[1] = min(pos_ctrl[1], 0)
        if gripper_pos[1] < self.center_of_table[1] - 0.3:
            pos_ctrl[1] = max(pos_ctrl[1], 0)
        if gripper_pos[2] > self.max_z:
            pos_ctrl[2] = min(pos_ctrl[2], 0)
        if gripper_pos[2] < self.min_z:
            pos_ctrl[2] = max(pos_ctrl[2], 0)
        return pos_ctrl