def sample_box_pose()

in gym_aloha/utils.py [0:0]

• 9 lines of code
• 1 McCabe index (conditional complexity)

def sample_box_pose(seed=None):
    x_range = [0.0, 0.2]
    y_range = [0.4, 0.6]
    z_range = [0.05, 0.05]

    rng = np.random.RandomState(seed)

    ranges = np.vstack([x_range, y_range, z_range])
    cube_position = rng.uniform(ranges[:, 0], ranges[:, 1])

    cube_quat = np.array([1, 0, 0, 0])
    return np.concatenate([cube_position, cube_quat])