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unilab.envs.mdp.observations

Community-style observation terms for the NumPy manager runtime.

Functions

base_ang_vel(env[, asset_cfg])
base_lin_vel(env[, asset_cfg])
generated_commands(env, command_name)
joint_pos_rel(env[, biased, asset_cfg])
joint_vel_rel(env[, asset_cfg])
last_action(env[, action_name])
projected_gravity(env[, asset_cfg])

Classes

base_ang_vel_imu_misaligned	Base angular velocity rotated by the per-env constant IMU misalignment.
builtin_sensor	Read one existing backend sensor through a cached NumPy view.
projected_gravity_from_sensor	Negate a cached 3-D up-vector sensor to obtain projected gravity.
projected_gravity_imu_misaligned	Projected gravity rotated by the SAME per-env IMU misalignment as the gyro.

unilab.envs.mdp.observations.base_ang_vel(env, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))

Parameters:

• env (ManagerBasedRlEnv)

• asset_cfg (SceneEntityCfg)

Return type:

ndarray

class unilab.envs.mdp.observations.base_ang_vel_imu_misaligned

Bases: _ImuMisalignedObservation

Base angular velocity rotated by the per-env constant IMU misalignment.

Parameters:

• cfg (ManagerTermBaseCfg)

• env (ManagerBasedRlEnv)

unilab.envs.mdp.observations.base_lin_vel(env, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))

Parameters:

• env (ManagerBasedRlEnv)

• asset_cfg (SceneEntityCfg)

Return type:

ndarray

class unilab.envs.mdp.observations.builtin_sensor

Bases: _NamedSensorObservation

Read one existing backend sensor through a cached NumPy view.

Parameters:

• cfg (ManagerTermBaseCfg)

• env (ManagerBasedRlEnv)

unilab.envs.mdp.observations.generated_commands(env, command_name)

Parameters:

• env (ManagerBasedRlEnv)

• command_name (str)

Return type:

ndarray

unilab.envs.mdp.observations.joint_pos_rel(env, biased=False, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))

Parameters:

• env (ManagerBasedRlEnv)

• biased (bool)

• asset_cfg (SceneEntityCfg)

Return type:

ndarray

unilab.envs.mdp.observations.joint_vel_rel(env, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))

Parameters:

• env (ManagerBasedRlEnv)

• asset_cfg (SceneEntityCfg)

Return type:

ndarray

unilab.envs.mdp.observations.last_action(env, action_name=None)

Parameters:

• env (ManagerBasedRlEnv)

• action_name (str | None)

Return type:

ndarray

unilab.envs.mdp.observations.projected_gravity(env, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))

Parameters:

• env (ManagerBasedRlEnv)

• asset_cfg (SceneEntityCfg)

Return type:

ndarray

class unilab.envs.mdp.observations.projected_gravity_from_sensor

Bases: _NamedSensorObservation

Negate a cached 3-D up-vector sensor to obtain projected gravity.

Parameters:

• cfg (ManagerTermBaseCfg)

• env (ManagerBasedRlEnv)

__init__(cfg, env)

Parameters:

• cfg (ManagerTermBaseCfg)

• env (ManagerBasedRlEnv)

class unilab.envs.mdp.observations.projected_gravity_imu_misaligned

Bases: _ImuMisalignedObservation

Projected gravity rotated by the SAME per-env IMU misalignment as the gyro.

Parameters:

• cfg (ManagerTermBaseCfg)

• env (ManagerBasedRlEnv)