unilab.base.base.EnvCfg

class unilab.base.base.EnvCfg[source]

Bases: object

Config for the environment

Parameters:

Methods

__init__([scene, fixed_model_variants, ...])

validate()

validate the config

Attributes

cpu_ids

ctrl_dt

drake_backend_mode

drake_nthread

fixed_model_variants

genesis_constraint_solver

genesis_device_id

genesis_friction_cone

genesis_integrator

genesis_solver_iterations

isaacgym_device_id

isaacgym_worker_timeout_s

isaacsim_device_id

isaacsim_env_spacing

isaacsim_render_height

isaacsim_render_mode

isaacsim_render_width

isaacsim_share_friction_materials

isaacsim_tensor_cuda_ipc

isaacsim_worker_timeout_s

max_episode_seconds

max_episode_steps

return the max episode steps

mjwarp_nconmax

mjwarp_njmax

motrix_max_iterations

newton_capacity_check_steps

newton_device

newton_nconmax

newton_njmax

newton_use_cuda_graph

render_offset_mode

render_spacing

scene

sim_dt

sim_substeps

return the number of simulation steps per control step

superdex_allow_contact_approximation

superdex_assets_root

superdex_effort_limits

superdex_execution_mode

superdex_num_workers

scene: SceneCfg | None = None
fixed_model_variants: FixedModelVariantCatalogCfg | None = None
sim_dt: float = 0.01
max_episode_seconds: Optional[float] = None
ctrl_dt: float = 0.01
render_spacing: float = 1.0
render_offset_mode: str = 'grid'
drake_backend_mode: str = 'batch'
drake_nthread: int = 0
superdex_num_workers: int = 0
superdex_execution_mode: str = 'batch'
superdex_assets_root: Optional[str] = None
superdex_effort_limits: Optional[list[float]] = None
superdex_allow_contact_approximation: bool = False
motrix_max_iterations: Optional[int] = None
cpu_ids: Optional[list[int]] = None
mjwarp_nconmax: Optional[int] = None
mjwarp_njmax: Optional[int] = None
newton_device: Optional[str] = None
newton_nconmax: Optional[int] = None
newton_njmax: Optional[int] = None
newton_capacity_check_steps: int = 1
newton_use_cuda_graph: bool = True
isaacgym_device_id: Optional[int] = None
isaacgym_worker_timeout_s: Optional[float] = None
genesis_device_id: Optional[int] = None
genesis_integrator: Optional[str] = None
genesis_constraint_solver: Optional[str] = None
genesis_friction_cone: Optional[str] = None
genesis_solver_iterations: Optional[int] = None
isaacsim_device_id: Optional[int] = None
isaacsim_worker_timeout_s: Optional[float] = None
isaacsim_render_mode: Optional[str] = None
isaacsim_render_width: int = 1280
isaacsim_render_height: int = 720
isaacsim_tensor_cuda_ipc: bool = False
isaacsim_share_friction_materials: bool = False
isaacsim_env_spacing: Optional[float] = None
property max_episode_steps: int | None

return the max episode steps

property sim_substeps: int

return the number of simulation steps per control step

validate()[source]

validate the config

__init__(scene=None, fixed_model_variants=None, sim_dt=0.01, max_episode_seconds=None, ctrl_dt=0.01, render_spacing=1.0, render_offset_mode='grid', drake_backend_mode='batch', drake_nthread=0, superdex_num_workers=0, superdex_execution_mode='batch', superdex_assets_root=None, superdex_effort_limits=None, superdex_allow_contact_approximation=False, motrix_max_iterations=None, cpu_ids=None, mjwarp_nconmax=None, mjwarp_njmax=None, newton_device=None, newton_nconmax=None, newton_njmax=None, newton_capacity_check_steps=1, newton_use_cuda_graph=True, isaacgym_device_id=None, isaacgym_worker_timeout_s=None, genesis_device_id=None, genesis_integrator=None, genesis_constraint_solver=None, genesis_friction_cone=None, genesis_solver_iterations=None, isaacsim_device_id=None, isaacsim_worker_timeout_s=None, isaacsim_render_mode=None, isaacsim_render_width=1280, isaacsim_render_height=720, isaacsim_tensor_cuda_ipc=False, isaacsim_share_friction_materials=False, isaacsim_env_spacing=None)
Parameters: