Observations#

genesis_forge.mdp.observations.contact_force(env: GenesisEnv, contact_manager: ContactManager) → torch.Tensor[source]#

Returns the normalized contact force at each contact point.

Parameters:

  • env – The Genesis Forge environment

  • contact_manager – The contact manager to check for contact

Returns: tensor of shape (num_envs, num_contacts)

genesis_forge.mdp.observations.current_actions(env: GenesisEnv, action_manager: PositionActionManager = None) → torch.Tensor[source]#

The most current step actions.

genesis_forge.mdp.observations.entity_angular_velocity(env: GenesisEnv, entity_manager: EntityManager = None, entity_attr: str = 'robot') → torch.Tensor[source]#

The angular velocity of the entity’s base link, in the entity’s local frame.

Parameters:

  • env – The Genesis environment containing the entity

  • entity_manager – The entity manager for the robot/entity the observation is being computed for. This is slightly more performant than using the entity_attr parameter.

  • entity_attr – The attribute name of the entity in the environment. This isn’t necessary if entity_manager is provided.

Returns:

The angular velocity of the entity’s base link, in the entity’s local frame.

Return type:

torch.Tensor

genesis_forge.mdp.observations.entity_dofs_force(env: GenesisEnv, action_manager: PositionActionManager = None, entity_attr: str = 'robot', dofs_idx: list[int] = None, clip_to_max_force: bool = False) → torch.Tensor[source]#

The DOF’s force being experienced.

Parameters:

  • env – The Genesis environment containing the entity

  • action_manager – The action manager for the robot/entity. This is slightly more performant than using the entity_attr parameter.

  • entity_attr – The attribute name of the entity in the environment. This isn’t necessary if action_manager is provided.

  • dofs_idx – The indices of the DOFs to get the force of. This isn’t necessary if action_manager is provided.

  • clip_to_max_force – Clip the force to the maximum force defined in the action_manager.

Returns:

The force of the entity’s DOFs.

Return type:

torch.Tensor

genesis_forge.mdp.observations.entity_dofs_position(env: GenesisEnv, action_manager: PositionActionManager = None, entity_attr: str = 'robot', dofs_idx: list[int] = None) → torch.Tensor[source]#

The position of the entity’s DOFs.

Parameters:

  • env – The Genesis environment containing the entity

  • action_manager – The action manager for the robot/entity. This is slightly more performant than using the entity_attr parameter.

  • entity_attr – The attribute name of the entity in the environment. This isn’t necessary if action_manager is provided.

  • dofs_idx – The indices of the DOFs to get the position of. This isn’t necessary if action_manager is provided.

Returns:

The position of the entity’s DOFs.

Return type:

torch.Tensor

genesis_forge.mdp.observations.entity_dofs_velocity(env: GenesisEnv, action_manager: PositionActionManager = None, entity_attr: str = 'robot', dofs_idx: list[int] = None) → torch.Tensor[source]#

The velocity of the entity’s DOFs.

Parameters:

  • env – The Genesis environment containing the entity

  • action_manager – The action manager for the robot/entity. This is slightly more performant than using the entity_attr parameter.

  • entity_attr – The attribute name of the entity in the environment. This isn’t necessary if action_manager is provided.

  • dofs_idx – The indices of the DOFs to get the velocity of. This isn’t necessary if action_manager is provided.

Returns:

The velocity of the entity’s DOFs.

Return type:

torch.Tensor

genesis_forge.mdp.observations.entity_linear_velocity(env: GenesisEnv, entity_manager: EntityManager = None, entity_attr: str = 'robot') → torch.Tensor[source]#

The linear velocity of the entity’s base link, in the entity’s local frame.

Parameters:

  • env – The Genesis environment containing the entity

  • entity_manager – The entity manager for the robot/entity the observation is being computed for. This is slightly more performant than using the entity_attr parameter.

  • entity_attr – The attribute name of the entity in the environment. This isn’t necessary if entity_manager is provided.

Returns:

The linear velocity of the entity’s base link, in the entity’s local frame.

Return type:

torch.Tensor

genesis_forge.mdp.observations.entity_projected_gravity(env: GenesisEnv, entity_manager: EntityManager = None, entity_attr: str = 'robot') → torch.Tensor[source]#

The projected gravity of the entity’s base link, in the entity’s local frame.

Parameters:

  • env – The Genesis environment containing the entity

  • entity_manager – The entity manager for the robot/entity the observation is being computed for. This is slightly more performant than using the entity_attr parameter.

  • entity_attr – The attribute name of the entity in the environment. This isn’t necessary if entity_manager is provided.

Returns:

The projected gravity of the entity’s base link, in the entity’s local frame.

Return type:

torch.Tensor