cloudpendulumclient.disturbance

Functions

deserialize_disturbance(json_data)
serialize_disturbances(disturbances)

Classes

Disturbance()	General disturbance
DisturbanceSchema(name)	Class used internally to carry named disturbances such as 'double_pendulum_default'
StateDependentPositionDisturbance([...])	Trigger a position jump after staying near goal_position for wait_at_target_seconds.
StateDependentTorqueDisturbance(duration, torque)	Trigger a torque for duration seconds after staying near goal_position for wait_at_target_seconds.
TimedPositionDisturbance(trigger_time[, ...])	Jump to target position at trigger_time seconds after experiment start.
TimedTorqueDisturbance(start_time, duration, ...)	Apply extra torque additively at start_time for duration seconds.

class cloudpendulumclient.disturbance.Disturbance

General disturbance

__init__() → None

class cloudpendulumclient.disturbance.TimedTorqueDisturbance(start_time: float, duration: float, torque: list[float])

Apply extra torque additively at start_time for duration seconds. One torque value per actuator.

Parameters:

• start_time – Start time in seconds after experiment start

• duration – Duration in seconds for how long the torque is applied

• torque – List of torque values, one per actuator

start_time: float

duration: float

torque: list[float]

type: str = 'timed_torque'

__init__(start_time: float, duration: float, torque: list[float]) → None

class cloudpendulumclient.disturbance.StateDependentPositionDisturbance(wait_at_target_seconds: float = 3.0, goal_position: list[float] | None = None, disturbance_position: list[float] | None = None, target_pos_threshold: float = 0.1, target_vel_threshold: float = 1.0)

Trigger a position jump after staying near goal_position for wait_at_target_seconds.

Parameters:

• wait_at_target_seconds – How long the system stays at goal_position before a disturbance is triggered

• goal_position – The controller target position that the system is supposed to reach. If goal_position is None, initial_position from start_experiment is used as the reference and must be set.

• disturbance_position – The position that the disturbance will drive the system to. If disturbance_position is None, the position will be randomized.

• target_pos_threshold – Admissible distance error to goal_position to be detected as “at goal”

• target_vel_threshold – Admissible velocity error to be detected as “at goal”

wait_at_target_seconds: float = 3.0

goal_position: list[float] | None = None

disturbance_position: list[float] | None = None

target_pos_threshold: float = 0.1

target_vel_threshold: float = 1.0

type: str = 'state_dependent_position'

__init__(wait_at_target_seconds: float = 3.0, goal_position: list[float] | None = None, disturbance_position: list[float] | None = None, target_pos_threshold: float = 0.1, target_vel_threshold: float = 1.0) → None

class cloudpendulumclient.disturbance.StateDependentTorqueDisturbance(duration: float, torque: list[float], wait_at_target_seconds: float = 3.0, goal_position: list[float] | None = None, target_pos_threshold: float = 0.1, target_vel_threshold: float = 1.0)

Trigger a torque for duration seconds after staying near goal_position for wait_at_target_seconds.

Parameters:

• wait_at_target_seconds – How long the system stays at goal_position before a disturbance is triggered

• goal_position – The controller target position that the system is supposed to reach. If goal_position is None, initial_position from start_experiment is used as the reference and must be set.

• torque – List of torque values, one per actuator

• target_pos_threshold – Admissible distance error to goal_position to be detected as “at goal”

• target_vel_threshold – Admissible velocity error to be detected as “at goal”

duration: float

torque: list[float]

wait_at_target_seconds: float = 3.0

goal_position: list[float] | None = None

target_pos_threshold: float = 0.1

target_vel_threshold: float = 1.0

type: str = 'state_dependent_torque'

__init__(duration: float, torque: list[float], wait_at_target_seconds: float = 3.0, goal_position: list[float] | None = None, target_pos_threshold: float = 0.1, target_vel_threshold: float = 1.0) → None

class cloudpendulumclient.disturbance.TimedPositionDisturbance(trigger_time: float, disturbance_position: list[float] | None = None)

Jump to target position at trigger_time seconds after experiment start.

Parameters:

• trigger_time – At which time after experiment start the disturbance should be triggered.

• disturbance_position – The position that the disturbance will drive the system to. If disturbance_position is None, the position will be randomized.

trigger_time: float

disturbance_position: list[float] | None = None

type: str = 'timed_position'

__init__(trigger_time: float, disturbance_position: list[float] | None = None) → None

class cloudpendulumclient.disturbance.DisturbanceSchema(name: str)

Class used internally to carry named disturbances such as ‘double_pendulum_default’

Parameters:

name – name of the disturbance schema

name: str

type: str = 'disturbance_schema'

__init__(name: str) → None

cloudpendulumclient.disturbance.serialize_disturbances(disturbances: Disturbance | str | list[Disturbance | str]) → str

cloudpendulumclient.disturbance.deserialize_disturbance(json_data: dict[Any, Any]) → Disturbance