unilab.training.rsl_rl.RslRlVecEnvWrapper

class unilab.training.rsl_rl.RslRlVecEnvWrapper[source]

Bases: object

Adapter from UniLab’s env contract to the RSL-RL VecEnv contract.

Parameters:

  • env (Any)

  • device (str)

  • policy_obs_mode (str)

Methods

__init__(env[, device, policy_obs_mode])

close()

get_observations()

get_privileged_observations()

reset()

step(actions)

__init__(env, device='cpu', policy_obs_mode='flat')[source]
Parameters:

  • env (Any)

  • device (str)

  • policy_obs_mode (str)

step(actions)[source]
Parameters:

actions (Tensor | ndarray)

Return type:

tuple[TensorDict, Tensor, Tensor, dict]

reset()[source]
Return type:

tuple[TensorDict, dict[str, Any]]

get_observations()[source]
Return type:

TensorDict

get_privileged_observations()[source]
Return type:

Tensor

close()[source]
Return type:

None