unilab.envs.manipulation.sharpa_inhand.rotation.SharpaInhandRotationDRProvider

class unilab.envs.manipulation.sharpa_inhand.rotation.SharpaInhandRotationDRProvider[source]

Bases: DomainRandomizationProvider

Methods

__init__()

build_init_randomization_plan(env)

build_interval_randomization_plan(env, ...)

Build Sharpa object-force perturbations for the upcoming control step.

build_reset_observation(env, env_ids, ...)

build_reset_plan(env, env_ids)

validate(env, capabilities)

validate(env, capabilities)[source]
Parameters:
Return type:

None

build_init_randomization_plan(env)[source]
Parameters:

env (Any)

Return type:

InitRandomizationPlan | None

build_reset_plan(env, env_ids)[source]
Parameters:
Return type:

ResetPlan

build_reset_observation(env, env_ids, info_updates)[source]
Parameters:
Return type:

dict[str, ndarray]

build_interval_randomization_plan(env, step_counter)[source]

Build Sharpa object-force perturbations for the upcoming control step.

Parameters:

  • env (Any) – Sharpa rotation env instance.

  • step_counter (int) – Global environment step counter.

Return type:

IntervalRandomizationPlan | None

Returns:

Interval randomization plan carrying direct object-force perturbations, or None when object-force injection is disabled.