upkie.envs.wrappers.random_push.RandomPush Class Reference

At each step, with a given probability, apply a random push to the robot. More...

Public Member Functions
def	__init__ (self, env, push_prob=0.01, push_generator=lambda:np.random.normal(0, 400, 3))
	Initialize wrapper. More...
def	get_spine_action (self, action)

Public Attributes
	env
	Wrapped environment.
	push_prob
	Probability of pushing at each step.
	push_generator
	Function that generates the push force. More...

Detailed Description

At each step, with a given probability, apply a random push to the robot.

Constructor & Destructor Documentation

__init__()

def upkie.envs.wrappers.random_push.RandomPush.__init__	(		self,
			env,
			push_prob = 0.01,
			push_generator = lambda: np.random.normal(0, 400, 3)
	)

Initialize wrapper.

Parameters

env	Environment to wrap.
push_prob	Probability of pushing at each step.
push_generator	Function that generates the push force. It should return a 3D numpy array.

Member Function Documentation

get_spine_action()

def upkie.envs.wrappers.random_push.RandomPush.get_spine_action	(		self,
			action
	)

Adds a random push to the action.

Member Data Documentation

push_generator

upkie.envs.wrappers.random_push.RandomPush.push_generator

Function that generates the push force.

It should return a 3D numpy array.

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

• upkie/envs/wrappers/random_push.py