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unilab.base.base.EnvCfg

class unilab.base.base.EnvCfg

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)

• drake_backend_mode (str)

• drake_nthread (int)

• superdex_num_workers (int)

• superdex_execution_mode (str)

• superdex_assets_root (Optional[str])

• superdex_effort_limits (Optional[list[float]])

• superdex_allow_contact_approximation (bool)

• motrix_max_iterations (Optional[int])

• post_step_forward_sensor (bool)

• adaptive_chunk_size (bool)

• chunk_size (Optional[int])

• cpu_ids (Optional[list[int]])

• mjwarp_nconmax (Optional[int])

• mjwarp_njmax (Optional[int])

• newton_device (Optional[str])

• newton_nconmax (Optional[int])

• newton_njmax (Optional[int])

• newton_capacity_check_steps (int)

• isaacgym_device_id (Optional[int])

• isaacgym_worker_timeout_s (Optional[float])

• genesis_device_id (Optional[int])

• genesis_integrator (Optional[str])

• genesis_constraint_solver (Optional[str])

• genesis_friction_cone (Optional[str])

• genesis_solver_iterations (Optional[int])

• isaacsim_device_id (Optional[int])

• isaacsim_worker_timeout_s (Optional[float])

• isaacsim_render_mode (Optional[str])

• isaacsim_render_width (int)

• isaacsim_render_height (int)

Methods

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

Attributes

adaptive_chunk_size
chunk_size
cpu_ids
ctrl_dt
drake_backend_mode
drake_nthread
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_render_height
isaacsim_render_mode
isaacsim_render_width
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
post_step_forward_sensor
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

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

post_step_forward_sensor: bool = False

adaptive_chunk_size: bool = True

chunk_size: 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

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

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()

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', 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, post_step_forward_sensor=False, adaptive_chunk_size=True, chunk_size=None, cpu_ids=None, mjwarp_nconmax=None, mjwarp_njmax=None, newton_device=None, newton_nconmax=None, newton_njmax=None, newton_capacity_check_steps=1, 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)

Parameters:

• scene (SceneCfg | None)

• sim_dt (float)

• max_episode_seconds (Optional[float])

• ctrl_dt (float)

• render_spacing (float)

• render_offset_mode (str)

• drake_backend_mode (str)

• drake_nthread (int)

• superdex_num_workers (int)

• superdex_execution_mode (str)

• superdex_assets_root (Optional[str])

• superdex_effort_limits (Optional[list[float]])

• superdex_allow_contact_approximation (bool)

• motrix_max_iterations (Optional[int])

• post_step_forward_sensor (bool)

• adaptive_chunk_size (bool)

• chunk_size (Optional[int])

• cpu_ids (Optional[list[int]])

• mjwarp_nconmax (Optional[int])

• mjwarp_njmax (Optional[int])

• newton_device (Optional[str])

• newton_nconmax (Optional[int])

• newton_njmax (Optional[int])

• newton_capacity_check_steps (int)

• isaacgym_device_id (Optional[int])

• isaacgym_worker_timeout_s (Optional[float])

• genesis_device_id (Optional[int])

• genesis_integrator (Optional[str])

• genesis_constraint_solver (Optional[str])

• genesis_friction_cone (Optional[str])

• genesis_solver_iterations (Optional[int])

• isaacsim_device_id (Optional[int])

• isaacsim_worker_timeout_s (Optional[float])

• isaacsim_render_mode (Optional[str])

• isaacsim_render_width (int)

• isaacsim_render_height (int)