def _default_observation_map()

in robogym/envs/dactyl/locked.py [0:0]

• 37 lines of code
• 4 McCabe index (conditional complexity)

    def _default_observation_map(self):
        obs_map = {
            "cube_pos": omv({"mujoco": MujocoCubePosObservation}),
            "cube_quat": omv({"mujoco": MujocoCubeRotObservation}),
            "qpos": omv({"mujoco": MujocoQposObservation}),
            "qvel": omv({"mujoco": MujocoQvelObservation}),
            "hand_angle": omv({"mujoco": MujocoShadowhandAngleObservation}),
            "fingertip_pos": omv(
                {"mujoco": MujocoShadowhandRelativeFingertipsObservation}
            ),
            "goal_pos": omv({"goal": GoalCubePosObservation}),
            "goal_quat": omv({"goal": GoalCubeRotObservation}),
            "qpos_goal": omv({"goal": GoalQposObservation}),
            "is_goal_achieved": omv({"goal": GoalIsAchievedObservation}),
        }

        if self.constants.vision_observations:
            # Add image observations for vision based policy rollout.
            obs_map.update(
                {
                    "vision": omv(
                        {"dummy_vision": ImageObservation}, default="dummy_vision"
                    )
                }
            )

        if self.constants.vision_goal:
            obs_map.update(
                {
                    "vision_goal": omv(
                        {
                            "goal": ImageObservation,
                            "goal_render_image": ImageObservation,
                            "goal_dummy_vision": ImageObservation,
                        },
                        default="goal_dummy_vision",
                    ),
                }
            )

        return obs_map