unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroRotationObservation

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

Bases: ManagerTermBase

One 35-D frame plus state shared by termination and reward terms.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_AllegroEnv)

Methods

__init__(cfg, env)

reset([env_ids])

Resets the manager term.

snapshot(env)

Attributes

last_counter

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_AllegroEnv)

property last_counter: int
reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

snapshot(env)[source]
Parameters:

env (_AllegroEnv)

Return type:

AllegroRotationObservation

__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