mani_skill.utils.wrappers.flatten
=================================

.. py:module:: mani_skill.utils.wrappers.flatten


Classes
-------

.. autoapisummary::

   mani_skill.utils.wrappers.flatten.FlattenActionSpaceWrapper
   mani_skill.utils.wrappers.flatten.FlattenObservationWrapper
   mani_skill.utils.wrappers.flatten.FlattenRGBDObservationWrapper


Module Contents
---------------

.. py:class:: FlattenActionSpaceWrapper(env)

   Bases: :py:obj:`gymnasium.ActionWrapper`


   Flattens the action space. The original action space must be spaces.Dict


   .. py:method:: action(action)

      Returns a modified action before :meth:`step` is called.

      :param action: The original :meth:`step` actions

      :returns: The modified actions



   .. py:attribute:: _orig_single_action_space


   .. py:property:: base_env
      :type: mani_skill.envs.sapien_env.BaseEnv



   .. py:attribute:: single_action_space


.. py:class:: FlattenObservationWrapper(env)

   Bases: :py:obj:`gymnasium.ObservationWrapper`


   Flattens the observations into a single vector


   .. py:method:: observation(observation)

      Returns a modified observation.

      :param observation: The :attr:`env` observation

      :returns: The modified observation



   .. py:property:: base_env
      :type: mani_skill.envs.sapien_env.BaseEnv



.. py:class:: FlattenRGBDObservationWrapper(env, rgb=True, depth=True, state=True, sep_depth=True)

   Bases: :py:obj:`gymnasium.ObservationWrapper`


   Flattens the rgbd mode observations into a dictionary with two keys, "rgbd" and "state"

   :param rgb: Whether to include rgb images in the observation
   :type rgb: bool
   :param depth: Whether to include depth images in the observation
   :type depth: bool
   :param state: Whether to include state data in the observation
   :type state: bool
   :param sep_depth: Whether to separate depth and rgb images in the observation. Default is True.
   :type sep_depth: bool

   Note that the returned observations will have a "rgb" or "depth" key depending on the rgb/depth bool flags, and will
   always have a "state" key. If sep_depth is False, rgb and depth will be merged into a single "rgbd" key.


   .. py:method:: observation(observation)

      Returns a modified observation.

      :param observation: The :attr:`env` observation

      :returns: The modified observation



   .. py:attribute:: base_env
      :type:  mani_skill.envs.sapien_env.BaseEnv


   .. py:attribute:: include_depth
      :value: True



   .. py:attribute:: include_rgb
      :value: True



   .. py:attribute:: include_state
      :value: True



   .. py:attribute:: sep_depth
      :value: True