def step()

in experiments/rolling/RollingEnv.py [0:0]

• 23 lines of code
• 4 McCabe index (conditional complexity)

    def step(self, render=True):
        """
        Step simulation, sync with tacto simulator

        Args:
            render: whether render tactile imprints, Default: True
        """
        # Step in pybullet
        pb.stepSimulation()

        if not (render):
            return

        st = time.time()
        # Sync tacto
        self.digits.update()
        # Render tactile imprints
        self.color, self.depth = self.digits.render()

        self.time_render.append(time.time() - st)
        self.time_render = self.time_render[-100:]
        # print("render {:.4f}s".format(np.mean(self.time_render)), end=" ")
        st = time.time()

        if self.recordLogs:
            self.logs["touch"].append([self.color.copy(), self.depth])

            self.visionColor, self.visionDepth = self.cam.get_image()
            self.logs["vision"].append([self.visionColor, self.visionDepth])

        if self.visTacto:
            color1 = self.color[1].copy()
            x0 = int(self.goal[0] * self.tactoResolution[1])
            y0 = int(self.goal[1] * self.tactoResolution[0])
            color1[x0 - 4 : x0 + 4, y0 - 4 : y0 + 4, :] = [255, 255, 255]

            # color1 = draw_circle(color1, self.goal)
            self.color[1] = color1
            self.digits.updateGUI(self.color, self.depth)

        self.time_vis.append(time.time() - st)
        self.time_vis = self.time_vis[-100:]