unilab.tasks.manipulation.stewart.balance.StewartObservation

class unilab.tasks.manipulation.stewart.balance.StewartObservation[source]

Bases: ManagerTermBase

Legacy 15-D observation with per-environment filtered finite differences.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_StewartEnv)

Methods

__init__(cfg, env)

reset([env_ids])

Resets the manager term.

snapshot(env)

Attributes

ball_pos

name

num_envs

relative_xy

velocity_xy

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_StewartEnv)

property relative_xy: ndarray
property velocity_xy: ndarray
property ball_pos: ndarray
reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

snapshot(env)[source]
Parameters:

env (_StewartEnv)

Return type:

ndarray

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_StewartEnv)

  • params (Any)

Return type:

ndarray

property name: str
property num_envs: int