def step()

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

• 31 lines of code
• 15 McCabe index (conditional complexity)

    def step(self, _, should_step=True, *args, **kwargs):
        if self._sim.grasp_mgr.is_grasped:
            return
        attempt_snap_idx = None
        contacts = self._sim.get_physics_contact_points()

        robot_id = self._sim.robot.sim_obj.object_id
        robot_contacts = [
            c for c in contacts if coll_name_matches(c, robot_id)
        ]

        # Contacted any objects?
        for scene_obj_id in self._sim.scene_obj_ids:
            has_robot_match = any(
                c for c in robot_contacts if coll_name_matches(c, scene_obj_id)
            )
            if has_robot_match:
                attempt_snap_idx = scene_obj_id

        if attempt_snap_idx is not None:
            self._sim.grasp_mgr.snap_to_obj(attempt_snap_idx)
            return

        attempt_marker_snap_name = None
        # Contacted any markers?
        markers = self._sim.get_all_markers()
        for marker_name, marker in markers.items():
            has_match = any(
                c
                for c in robot_contacts
                if coll_name_matches(c, marker.ao_parent.object_id)
                and coll_link_name_matches(c, marker.link_id)
            )
            if has_match:
                attempt_marker_snap_name = marker_name

        if attempt_marker_snap_name is not None:
            self._sim.grasp_mgr.snap_to_marker(attempt_marker_snap_name)