unilab.envs.manipulation.sharpa_inhand.base.sample_scale_grasp_caches

unilab.envs.manipulation.sharpa_inhand.base.sample_scale_grasp_caches(grasp_caches, scale_ids)[source]

Sample one cached grasp per reset environment from per-scale cache files.

Parameters:

  • grasp_caches (Sequence[ndarray]) – Cache arrays ordered the same way as env scale ids.

  • scale_ids (ndarray) – Scale-bucket assignment for each reset environment.

Return type:

ndarray

Returns:

Cached grasp states with shape (num_envs, 29).