unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroRotateReward

class unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroRotateReward[source]

Bases: ManagerTermBase

Reward angular velocity projected onto a cold-path-normalized axis.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_AllegroEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_AllegroEnv)

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_AllegroEnv)

  • params (Any)

Return type:

ndarray

property name: str
property num_envs: int
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any