def _observe_simple()

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

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

    def _observe_simple(self):
        """
        Default observation for the environment. An observation can be added here if
        it meets one of the condition below:

        1. It's cheap to fetch on a per step basic and doesn't cause side effect even
            if not used by policy.
        2. It's shared across all variances of the env.
        """

        robot_obs = self.mujoco_simulation.robot.observe()

        obs = {
            "obj_pos": self.mujoco_simulation.get_object_pos(),
            "obj_rel_pos": self.mujoco_simulation.get_object_rel_pos(),
            "obj_vel_pos": self.mujoco_simulation.get_object_vel_pos(),
            "obj_rot": self.mujoco_simulation.get_object_rot(),
            "obj_vel_rot": self.mujoco_simulation.get_object_vel_rot(),
            "robot_joint_pos": robot_obs.joint_positions(),
            "gripper_pos": robot_obs.tcp_xyz(),
            "gripper_velp": robot_obs.tcp_vel(),
            "gripper_controls": robot_obs.gripper_controls(),
            "gripper_qpos": robot_obs.gripper_qpos(),
            "gripper_vel": robot_obs.gripper_vel(),
            "qpos": self.mujoco_simulation.qpos,
            "qpos_goal": self._goal["qpos_goal"].copy(),
            "goal_obj_pos": self._goal["obj_pos"].copy(),
            "goal_obj_rot": self._goal["obj_rot"].copy(),
            "is_goal_achieved": np.array([self._is_goal_achieved], np.int32),
            "rel_goal_obj_pos": self._goal_info_dict["rel_goal_obj_pos"].copy(),
            "rel_goal_obj_rot": self._goal_info_dict["rel_goal_obj_rot"].copy(),
            "obj_gripper_contact": self.mujoco_simulation.get_object_gripper_contact(),
            "obj_bbox_size": self.mujoco_simulation.get_object_bounding_box_sizes(),
            "obj_colors": self.mujoco_simulation.get_object_colors(),
            "safety_stop": np.array([robot_obs.is_in_safety_stop()]),
            "tcp_force": robot_obs.tcp_force(),
            "tcp_torque": robot_obs.tcp_torque(),
        }

        if self.constants.mask_obs_outside_placement_area:
            obs = self._mask_goal_observation(
                obs, self._goal["goal_objects_in_placement_area"].copy()
            )
            obs = self._mask_object_observation(obs)

        return obs