unilab.tasks.manipulation.fr3.joint_target

Joint-target terms using the public NumPy entity/reset contracts.

Classes

JointTargetObservation

Bind one ordered joint target on the manager construction path.

JointTargetReward

Reward current joint accuracy with a configured squared-error scale.

ResetJointOffsets

Stage selected joint resets without requiring a floating root.
class unilab.tasks.manipulation.fr3.joint_target.JointTargetObservation[source]

Bases: object

Bind one ordered joint target on the manager construction path.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.manipulation.fr3.joint_target.JointTargetReward[source]

Bases: JointTargetObservation

Reward current joint accuracy with a configured squared-error scale.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.manipulation.fr3.joint_target.ResetJointOffsets[source]

Bases: object

Stage selected joint resets without requiring a floating root.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)