def get_observation()

in gym_aloha/tasks/sim_end_effector.py [0:0]

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

    def get_observation(self, physics):
        # note: it is important to do .copy()
        obs = collections.OrderedDict()
        obs["qpos"] = self.get_qpos(physics)
        obs["qvel"] = self.get_qvel(physics)
        obs["env_state"] = self.get_env_state(physics)
        obs["images"] = {}
        obs["images"]["top"] = physics.render(height=480, width=640, camera_id="top")
        obs["images"]["angle"] = physics.render(height=480, width=640, camera_id="angle")
        obs["images"]["vis"] = physics.render(height=480, width=640, camera_id="front_close")
        # used in scripted policy to obtain starting pose
        obs["mocap_pose_left"] = np.concatenate(
            [physics.data.mocap_pos[0], physics.data.mocap_quat[0]]
        ).copy()
        obs["mocap_pose_right"] = np.concatenate(
            [physics.data.mocap_pos[1], physics.data.mocap_quat[1]]
        ).copy()

        # used when replaying joint trajectory
        obs["gripper_ctrl"] = physics.data.ctrl.copy()
        return obs