observation

class real_robot.utils.wrappers.observation.FlattenObservationWrapper(env)[source]

Bases: ObservationWrapper

observation(observation)[source]

Returns a modified observation.

Parameters:

observation – The env observation

Returns:

The modified observation

class real_robot.utils.wrappers.observation.PointCloudObservationWrapper(env)[source]

Bases: ObservationWrapper

Convert Position textures to world-space point cloud.

observation(observation: dict)[source]

Returns a modified observation.

Parameters:

observation – The env observation

Returns:

The modified observation

static update_observation_space(space: Dict)[source]
class real_robot.utils.wrappers.observation.RGBDObservationWrapper(env, obs_mode='rgbd')[source]

Bases: ObservationWrapper

Map RealSense camera capture to rgb and depth.

observation(observation: dict)[source]

Applied on obs before returning from self.reset() and self.step()

class real_robot.utils.wrappers.observation.RobotSegmentationObservationWrapper(env, replace=True)[source]

Bases: ObservationWrapper

Add a binary mask for robot links.

static init_observation_space(space: Dict, replace: bool)[source]
observation(observation: dict)[source]

Returns a modified observation.

Parameters:

observation – The env observation

Returns:

The modified observation

observation_image(observation: dict)[source]
observation_pointcloud(observation: dict)[source]
reset(**kwargs)[source]

Modifies the env after calling reset(), returning a modified observation using self.observation().

real_robot.utils.wrappers.observation.merge_dict_spaces(dict_spaces: Sequence[Dict])[source]