def _build_observation_providers()

in robogym/envs/rearrange/common/base.py [0:0]

• 50 lines of code
• 3 McCabe index (conditional complexity)

    def _build_observation_providers(self):
        providers = {}

        if self.constants.vision:
            image_size = self.constants.vision_args.image_size
            # Default to mujoco based rendering.
            providers.update(
                {
                    "image": MujocoImageObservationProvider(
                        self.mujoco_simulation,
                        self.constants.vision_args.camera_names,
                        image_size,
                    ),
                    "image_mobile": MujocoImageObservationProvider(
                        self.mujoco_simulation,
                        self.constants.vision_args.mobile_camera_names,
                        image_size,
                    ),
                    "goal_image": MujocoGoalImageObservationProvider(
                        self.mujoco_simulation,
                        self.constants.vision_args.camera_names,
                        image_size,
                        self.goal_info,
                        "qpos_goal",
                        hide_robot=self.constants.goal_args.goal_hide_robot,
                    ),
                }
            )

            if self.constants.vision_args.high_res_mujoco:
                providers.update(
                    {
                        "image_high_res": MujocoImageObservationProvider(
                            self.mujoco_simulation,
                            self.constants.vision_args.camera_names,
                            600,
                        ),
                        "image_mobile_high_res": MujocoImageObservationProvider(
                            self.mujoco_simulation,
                            self.constants.vision_args.mobile_camera_names,
                            600,
                        ),
                        "goal_image_high_res": MujocoGoalImageObservationProvider(
                            self.mujoco_simulation,
                            self.constants.vision_args.camera_names,
                            600,
                            self.goal_info,
                            "qpos_goal",
                            hide_robot=self.constants.goal_args.goal_hide_robot,
                        ),
                    }
                )

        return providers