upkie.envs.wrappers.add_action_to_observation.AddActionToObservation Class Reference

Append last action vector to the observation vector. More...

Public Member Functions
def	__init__ (self, env)
	Initialize wrapper. More...
np.ndarray	observation (self, np.ndarray observation)
	rGet wrapped observation. More...
def	step (self, np.ndarray action)
	Step the environment. More...

Public Attributes
	observation_space
	Observation space.

Detailed Description

Append last action vector to the observation vector.

Can be used in combination with gymnasium.wrappers.FrameStackObservation to create histories. (If there were directly a history wrapper in gymnasium we wouldn't need this wrapper.)

Constructor & Destructor Documentation

__init__()

def upkie.envs.wrappers.add_action_to_observation.AddActionToObservation.__init__	(		self,
			env
	)

Initialize wrapper.

Parameters

env	Wrapped environment.

The initial action is set to zero.

Member Function Documentation

observation()

np.ndarray upkie.envs.wrappers.add_action_to_observation.AddActionToObservation.observation	(		self,
		np.ndarray	observation
	)

rGet wrapped observation.

Parameters

observation

Observation from the wrapped environment.

Returns

Wrapped observation.

step()

def upkie.envs.wrappers.add_action_to_observation.AddActionToObservation.step	(		self,
		np.ndarray	action
	)

Step the environment.

Parameters

action

Action from the agent.

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

• upkie/envs/wrappers/add_action_to_observation.py