SIM2REAL Tools¶

RealisticRobotWrapper¶

class causal_world.sim2real_tools.RealisticRobotWrapper(env)[source]¶

__init__(env)[source]¶

This wrapper makes the simulated environment close to the real robot.

Parameters: env – (causal_world.CausalWorld) the environment to make realistic.

class causal_world.sim2real_tools.TransferReal(env)[source]¶

__init__(env)[source]¶

This wrapper makes the environment to execute actions on the real robot instead, to be used when performing sim2real experiments.

Parameters: env – (causal_world.CausalWorld) the environment to convert.

Resets the real robot to the current starting state of the environment.

Returns: (nd.array) specifies the observations returned after resetting the robot.

step(action)[source]¶

Used to step through the real robot.

Parameters: action – (nd.array) specifies which action should be taken by the robot.
Returns: (nd.array) specifies the observations returned after stepping through the robot.