unilab.envs.locomotion.common.base.LocomotionBaseCfg

class unilab.envs.locomotion.common.base.LocomotionBaseCfg[source]

Bases: EnvCfg

LocomotionBaseCfg(scene: unilab.base.scene.SceneCfg | None = None, sim_dt: ‘float’ = 0.01, max_episode_seconds: Optional[float] = None, ctrl_dt: ‘float’ = 0.02, render_spacing: float = 1.0, render_offset_mode: str = ‘grid’, motrix_max_iterations: Optional[int] = None, post_step_forward_sensor: bool = False, control_config: ‘ControlConfigBase’ = <factory>, noise_config: ‘BaseNoiseConfig’ = <factory>, sensor: ‘Sensor’ = <factory>)

Parameters:

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

control_config

noise_config

sensor

control_config: ControlConfigBase
noise_config: BaseNoiseConfig
sensor: Sensor
sim_dt: float = 0.01
ctrl_dt: float = 0.02
__init__(scene=None, sim_dt=0.01, max_episode_seconds=None, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>)
Parameters:
max_episode_seconds: Optional[float] = None
property max_episode_steps: int | None

return the max episode steps

motrix_max_iterations: Optional[int] = None
post_step_forward_sensor: bool = False
render_offset_mode: str = 'grid'
render_spacing: float = 1.0
scene: SceneCfg | None = None
property sim_substeps: int

return the number of simulation steps per control step

validate()

validate the config