tbp.monty.experiment.sensor_modules

tbp.monty.experiment.sensor_modules.telemetry

class Snapshot(*args, **kwargs)

Bases: ExperimentTransform

Appends observation and sensor pose to the payload telemetry.

Reads: - ctx.sensor_state.rotation - ctx.sensor_state.position - payload.observation

Writes: - payload.telemetry[“raw_observations”] - payload.telemetry[“sm_properties”]

Appends the current observation to payload.telemetry["raw_observations"]. Appends the current sensor pose to payload.telemetry["sm_properties"]. After a reset is triggered, both payload.telemetry["raw_observations"] and payload.telemetry["sm_properties"] are cleared before appending new data.

reset() → None

Reset the internal state of this transform.

The protocol offers a default implementation that does nothing.

Return type:

None