def get_coll_forces()

in habitat/tasks/rearrange/rearrange_task.py [0:0]

• 29 lines of code
• 11 McCabe index (conditional complexity)

    def get_coll_forces(self):
        snapped_obj = self._sim.grasp_mgr.snap_idx
        robot_id = self._sim.robot.sim_obj.object_id
        contact_points = self._sim.get_physics_contact_points()

        def get_max_force(contact_points, check_id):
            match_contacts = [
                x
                for x in contact_points
                if check_id in [x.object_id_a, x.object_id_b]
            ]
            match_contacts = [
                x for x in match_contacts if x.object_id_a != x.object_id_b
            ]

            max_force = 0
            if len(match_contacts) > 0:
                max_force = max([abs(x.normal_force) for x in match_contacts])

            return max_force

        forces = [
            abs(x.normal_force)
            for x in contact_points
            if (
                x.object_id_a not in self._ignore_collisions
                and x.object_id_b not in self._ignore_collisions
            )
        ]
        max_force = max(forces) if len(forces) > 0 else 0

        max_obj_force = get_max_force(contact_points, snapped_obj)
        max_robot_force = get_max_force(contact_points, robot_id)
        return max_robot_force, max_obj_force, max_force