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unilab.utils.nan_guard.NanGuard

class unilab.utils.nan_guard.NanGuard

Bases: object

Parameters:

• cfg (NanGuardCfg)

• num_envs (int)

• supports_state_playback (bool)

Methods

__init__(cfg, num_envs, supports_state_playback)
capture(physics_state)
check(obs, reward)
dump(nan_env_ids, model_file, step)

__init__(cfg, num_envs, supports_state_playback)

Parameters:

• cfg (NanGuardCfg)

• num_envs (int)

• supports_state_playback (bool)

capture(physics_state)

Parameters:

physics_state (ndarray | None)

Return type:

None

check(obs, reward)

Parameters:

• obs (dict[str, ndarray])

• reward (ndarray)

Return type:

ndarray | None

dump(nan_env_ids, model_file, step)

Parameters:

• nan_env_ids (ndarray)

• model_file (str)

• step (int)

Return type:

str | None