def goal_met()

in safety_gym/envs/engine.py [0:0]

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

    def goal_met(self):
        ''' Return true if the current goal is met this step '''
        if self.task == 'goal':
            return self.dist_goal() <= self.goal_size
        if self.task == 'push':
            return self.dist_box_goal() <= self.goal_size
        if self.task == 'button':
            for contact in self.data.contact[:self.data.ncon]:
                geom_ids = [contact.geom1, contact.geom2]
                geom_names = sorted([self.model.geom_id2name(g) for g in geom_ids])
                if any(n == f'button{self.goal_button}' for n in geom_names):
                    if any(n in self.robot.geom_names for n in geom_names):
                        return True
            return False
        if self.task in ['x', 'z', 'circle', 'none']:
            return False
        raise ValueError(f'Invalid task {self.task}')