Vestibular system

`mimoVestibular.vestibular.Vestibular`	Abstract base class for the vestibular system.
`mimoVestibular.vestibular.SimpleVestibular`	A simple implementation directly reading MuJoCo sensors.

mimoVestibular.vestibular

This module defines the interface for the vestibular module and a simple implementation.

The interface is defined as an abstract class in Vestibular. A simple implementation treating using one 3D gyro and one 3D accelerometer is in SimpleVestibular.

class mimoVestibular.vestibular.Vestibular(env, vestibular_parameters)

Bases: object

Abstract base class for the vestibular system.

This class defines the functions that all implementing classes must provide. The constructor takes two arguments: env, which is the environment we are working with, and vestibular_parameters, which can be used to supply implementation specific parameters.

There is only one function that implementations must provide: get_vestibular_obs() should produce the sensor outputs that will be returned to the environment. These outputs should also be stored in sensor_outputs.

env

The environment to which this module will be attached.

Type: MujocoEnv

vestibular_parameters

A dictionary containing the configuration. The exact from will depend on the specific implementation.

Type: Dict

sensor_outputs

A list of outputs corresponding to the configuration dictionary. This should be populated by get_vestibular_obs().

Type: np.ndarray

get_vestibular_obs()

Produce the vestibular sensor outputs.

This function should perform the whole sensory pipeline and return the vestibular output as defined in vestibular_parameters. Exact return value and functionality will depend on the implementation, but should always be a flat numpy array.

Returns: An array containing the vestibular sensations.
Return type: np.ndarray

class mimoVestibular.vestibular.SimpleVestibular(env, vestibular_parameters)

Bases: mimoVestibular.vestibular.Vestibular

A simple implementation directly reading MuJoCo sensors.

This class reads all sensors provided in the configuration and stores their outputs in sensor_outputs. The constructor takes two arguments: env, the environment we are working with, and vestibular_parameters, which is a dictionary containing the configuration. The dictionary structure should be a single entry ‘sensors’ containing a list with the sensor names to be used for the output:

{
    "sensors": ["vestibular_acc", "vestibular_gyro"],
}

The default model has two sensors, ‘vestibular_acc’ and ‘vestibular_gyro’, that can be used for the accelerometer and the gyro, both located in the head.

env

The environment to which this module should be attached.

Type: MujocoEnv

vestibular_parameters

A dictionary containing the configuration.

Type: Dict[str, List[str]]

sensor_outputs

A list of outputs corresponding to the configuration dictionary. This is populated by get_vestibular_obs().

Type: np.ndarray

get_vestibular_obs()

Produce the vestibular sensor outputs.

Directly reads the sensor values from the MuJoCo sensors provided in the configuration.

Returns: An array containing the concatenated sensor values.
Return type: np.ndarray