upkie.utils.robot_state_randomization.RobotStateRandomization Class Reference

Domain randomization parameters for Upkie's state. More...

Public Member Functions
def	__init__ (self, float roll=0.0, float pitch=0.0, float x=0.0, float z=0.0, float omega_x=0.0, float omega_y=0.0, Optional[np.ndarray] linear_velocity=None)
	Initialize sampler. More...
None	update (self, Optional[float] roll=None, Optional[float] pitch=None, Optional[float] x=None, Optional[float] z=None, Optional[float] omega_x=None, Optional[float] omega_y=None, Optional[float] v_x=None, Optional[float] v_z=None)
	Update some fields. More...
ScipyRotation	sample_orientation (self, np.random.Generator np_random)
	Sample an orientation within the given bounds. More...
np.ndarray	sample_position (self, np.random.Generator np_random)
	Sample a position within the given bounds. More...
np.ndarray	sample_angular_velocity (self, np.random.Generator np_random)
	Sample an angular velocity within the given bounds. More...
np.ndarray	sample_linear_velocity (self, np.random.Generator np_random)
	Sample a linear velocity within the given bounds. More...

Public Attributes
	roll
	Amount of roll angle randomization, in radians.
	pitch
	Amount of pitch angle randomization, in radians.
	x
	Amount of x-axis position randomization, in meters.
	z
	Amount of z-axis position randomization, in meters.
	omega_x
	Amount of x-axis randomization on the angular-velocity vector, in rad/s.
	omega_y
	Amount of y-axis randomization on the angular-velocity vector, in rad/s.
	linear_velocity
	Magnitude of linear velocity randomization, as a 3D vector in m/s.

Detailed Description

Domain randomization parameters for Upkie's state.

Note

The API for this class is likely to change. Initially all its attributes where floating-point numbers due to a quick-and-dirty design decision.

Constructor & Destructor Documentation

__init__()

def upkie.utils.robot_state_randomization.RobotStateRandomization.__init__	(		self,
		float	roll = 0.0,
		float	pitch = 0.0,
		float	x = 0.0,
		float	z = 0.0,
		float	omega_x = 0.0,
		float	omega_y = 0.0,
		Optional[np.ndarray]	linear_velocity = None
	)

Initialize sampler.

Parameters

roll	Amount of roll angle randomization, in radians.
pitch	Amount of pitch angle randomization, in radians.
x	Amount of x-axis position randomization, in meters.
z	Amount of z-axis position randomization, in meters.
omega_x	Amount of x-axis randomization on the angular-velocity vector, in rad/s.
omega_y	Amount of y-axis randomization on the angular-velocity vector, in rad/s.
linear_velocity	Magnitude of linear velocity randomization, as a 3D vector in m/s.

Member Function Documentation

sample_angular_velocity()

np.ndarray upkie.utils.robot_state_randomization.RobotStateRandomization.sample_angular_velocity	(		self,
		np.random.Generator	np_random
	)

Sample an angular velocity within the given bounds.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled angular-velocity vector.

sample_linear_velocity()

np.ndarray upkie.utils.robot_state_randomization.RobotStateRandomization.sample_linear_velocity	(		self,
		np.random.Generator	np_random
	)

Sample a linear velocity within the given bounds.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled linear-velocity vector.

sample_orientation()

ScipyRotation upkie.utils.robot_state_randomization.RobotStateRandomization.sample_orientation	(		self,
		np.random.Generator	np_random
	)

Sample an orientation within the given bounds.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled rotation matrix.

sample_position()

np.ndarray upkie.utils.robot_state_randomization.RobotStateRandomization.sample_position	(		self,
		np.random.Generator	np_random
	)

Sample a position within the given bounds.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled position vector.

update()

None upkie.utils.robot_state_randomization.RobotStateRandomization.update	(		self,
		Optional[float]	roll = None,
		Optional[float]	pitch = None,
		Optional[float]	x = None,
		Optional[float]	z = None,
		Optional[float]	omega_x = None,
		Optional[float]	omega_y = None,
		Optional[float]	v_x = None,
		Optional[float]	v_z = None
	)

Update some fields.

Parameters

roll	Roll angle for the rotation from the randomized frame to the parent frame (Euler Z-Y-X convention).
pitch	Pitch angle for the rotation from the randomized frame to the parent frame (Euler Z-Y-X convention).
x	Translation of the randomized frame along the x-axis of the parent frame.
z	Translation of the randomized frame along the z-axis of the parent frame.
omega_x	Angular velocity from the randomized frame to the parent frame, expressed in the randomized frame, along the x-axis.
omega_y	Angular velocity from the randomized frame to the parent frame, expressed in the randomized frame, along the y-axis.
v_x	Linear velocity from the randomized frame to the parent frame, expressed in the parent frame and along the x-axis.
v_z	Linear velocity from the randomized frame to the parent frame, expressed in the parent frame and along the z-axis.

---

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

• upkie/utils/robot_state_randomization.py