unilab.envs.mdp.observations.projected_gravity_from_sensor

class unilab.envs.mdp.observations.projected_gravity_from_sensor[source]

Bases: _NamedSensorObservation

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

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset([env_ids])

Row boundary for stateless sensor observations.

Attributes

name

num_envs

tensor_sensor_names

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__call__(env, sensor_name, entity_name=None)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • sensor_name (str)

  • entity_name (str | None)

Return type:

Tensor

property name: str
property num_envs: int
reset(env_ids=None)

Row boundary for stateless sensor observations.

Parameters:

env_ids (Tensor | None)

Return type:

None

property tensor_sensor_names: tuple[str, ...]