def current_parameters()

in robogym/robot/shadow_hand/mujoco/parameter_manager.py [0:0]
53 lines of code
4 McCabe index (conditional complexity)

    def current_parameters(self, actuator: str):
        assert actuator in ACTUATORS
        assignments = {}

        actuator_id = ACTUATORS.index(actuator)
        assignments["actuator_gainprm_kp"] = self.mj_sim.model.actuator_gainprm[
            actuator_id
        ][0]
        assignments["actuator_gainprm_ti"] = self.mj_sim.model.actuator_gainprm[
            actuator_id
        ][1]
        assignments["actuator_gainprm_iclamp"] = self.mj_sim.model.actuator_gainprm[
            actuator_id
        ][2]
        assignments["actuator_gainprm_td"] = self.mj_sim.model.actuator_gainprm[
            actuator_id
        ][3]
        assignments["actuator_gainprm_dsmooth"] = self.mj_sim.model.actuator_gainprm[
            actuator_id
        ][4]
        assignments[
            "actuator_gainprm_error_deadband"
        ] = self.mj_sim.model.actuator_gainprm[actuator_id][5]

        assignments["actuator_forcerange"] = self.mj_sim.model.actuator_forcerange[
            actuator_id
        ][1]

        if self._has_spring_tendon(actuator):
            tendon = self._spring_tendon_name(actuator)
            tendon_id = self.mj_sim.model.tendon_name2id(tendon)
            assignments["tendon_stiffness"] = self.mj_sim.model.tendon_stiffness[
                tendon_id
            ]
            assignments["tendon_lengthspring"] = self.mj_sim.model.tendon_lengthspring[
                tendon_id
            ]
            assignments["tendon_range"] = self.mj_sim.model.tendon_range[tendon_id][1]

            for joint in ACTUATOR_JOINT_MAPPING[actuator]:
                geom = f"coupling_{joint}_pulley"
                geom_id = self.mj_sim.model.geom_name2id(geom)
                assignments[f"{joint}_tendon_geom_0"] = self.mj_sim.model.geom_size[
                    geom_id
                ][0]

        for joint in ACTUATOR_JOINT_MAPPING[actuator]:
            joint_id = JOINTS.index(joint)
            assignments[f"{joint}_dof_damping"] = self.mj_sim.model.dof_damping[
                joint_id
            ]
            assignments[f"{joint}_jnt_range_0"] = self.mj_sim.model.jnt_range[joint_id][
                0
            ]
            assignments[f"{joint}_jnt_range_1"] = self.mj_sim.model.jnt_range[joint_id][
                1
            ]
        return assignments