def _compute_observation()

in gym_hil/envs/panda_pick_gym_env.py [0:0]

• 16 lines of code
• 2 McCabe index (conditional complexity)

    def _compute_observation(self) -> dict:
        """Compute the current observation."""
        # Create the dictionary structure that matches our observation space
        observation = {}

        # Get robot state
        robot_state = self.get_robot_state().astype(np.float32)

        # Assemble observation respecting the newly defined observation_space
        block_pos = self._data.sensor("block_pos").data.astype(np.float32)

        if self.image_obs:
            # Image observations
            front_view, wrist_view = self.render()
            observation = {
                "pixels": {"front": front_view, "wrist": wrist_view},
                "agent_pos": robot_state,
            }
        else:
            # State-only observations
            observation = {
                "agent_pos": robot_state,
                "environment_state": block_pos,
            }

        return observation