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unilab.base.base.EnvCfg¶

class unilab.base.base.EnvCfg[source]¶

Bases: object

Config for the environment

Parameters:

scene (SceneCfg | None)
sim_dt (float)
max_episode_seconds (Optional[float])
ctrl_dt (float)
render_spacing (float)
render_offset_mode (str)
motrix_max_iterations (Optional[int])
post_step_forward_sensor (bool)

Methods

`__init__`([scene, sim_dt, ...])
`validate`()	validate the config

Attributes

`ctrl_dt`
`max_episode_seconds`
`max_episode_steps`	return the max episode steps
`motrix_max_iterations`
`post_step_forward_sensor`
`render_offset_mode`
`render_spacing`
`scene`
`sim_dt`
`sim_substeps`	return the number of simulation steps per control step

scene: SceneCfg | 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'¶

motrix_max_iterations: Optional[int] = None¶

post_step_forward_sensor: bool = False¶

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, sim_dt=0.01, max_episode_seconds=None, ctrl_dt=0.01, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False)¶

Parameters:

scene (SceneCfg | None)
sim_dt (float)
max_episode_seconds (Optional[float])
ctrl_dt (float)
render_spacing (float)
render_offset_mode (str)
motrix_max_iterations (Optional[int])
post_step_forward_sensor (bool)