Base class with features shared by all Upkie environments. More...

Public Member Functions
None	__init__ (self, Backend backend, Optional[float] frequency, bool frequency_checks, Optional[RobotState] init_state, bool regulate_frequency)
	Initialize environment. More...

None	close (self)
	Close the environment and clean up resources. More...

Optional[float]	dt (self)
	Regulated period of the control loop in seconds, or `None` if there is no loop frequency regulation.

Optional[float]	frequency (self)
	Regulated frequency of the control loop in Hz, or `None` if there is no loop frequency regulation.

def	get_env_observation (self, dict spine_observation)
	Get Gym environment observation from spine observation. More...

def	get_neutral_action (self)
	Get neutral action for this environment. More...

dict	get_spine_action (self, env_action)
	Get spine action from Gym environment action. More...

Tuple[dict, dict]	reset (self, Optional[int] seed=None, Optional[dict] options=None)
	Resets the backend and get an initial observation. More...

Tuple[dict, float, bool, bool, dict]	step (self, dict action)
	Run one timestep of the environment's dynamics. More...

None	update_init_rand (self, **kwargs)
	Update initial-state randomization. More...

dict	get_bullet_action (self)
	Get the bullet action that will be applied at next step (only applies to the spine backend). More...

None	set_bullet_action (self, dict bullet_action)
	Set bullet action for the next step (only for SpineBackend). More...

Public Attributes
	action_space
	Action space of the environment.

	init_state
	Initial state for the floating base of the robot, which may be randomized upon resets.

	model
	Upkie robot model.

	observation_space
	Observation space of the environment.

Detailed Description

Base class with features shared by all Upkie environments.

Upkie environments do a number of things under the hood:

The documentation for this class was generated from the following file:

Public Member Functions