def run()

in interaction_exploration/tools/calculate_max_interactions.py [0:0]

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

    def run(self, G, T=1024):

        self.G = G

        step_infos = []
        while len(self.interaction_candidates)>0 and self.t<T:

            path = None
            while path is None:
                target_obj = self.select_next_obj()
                if target_obj is None:
                    break
                path = self.get_path_to_obj(target_obj)

            if path is None:
                print ('DONE')
                break

            self.t += len(path) - 1
            step_infos += [{'action':'move', 'target':None, 'success':True, 'reward':0}]*(len(path) - 1)

            if self.t >= T:
                print ('Timeout')
                break

            for interaction in target_obj['ints']:

                if interaction != 'put':
                    self.step_info = {'action':interaction, 'target':{'objectId': target_obj['objectId']}, 'success':True}
                elif interaction == 'put':
                    if target_obj['parentReceptacles'] is None:
                        continue
                    self.step_info = {'action':interaction, 'target':{'objectId': target_obj['parentReceptacles'][0]}, 'success':True}

                self.step_info['reward'] = self.get_reward(None)
                step_infos.append(self.step_info)
                self.t += 1

                if self.t >= T:
                    print ('Timeout')
                    break  

            end_pos = path[-1]
            self.controller.step(dict(action='TeleportFull', x=end_pos[0], y=end_pos[1], z=end_pos[2], rotation=end_pos[3], horizon=end_pos[4]))

        # padding
        step_infos = step_infos[:T]
        step_infos += [{'action':None, 'target':None, 'success':None, 'reward':0}]*(T - len(step_infos))

        return step_infos