unilab.envs.locomotion.common.base

Classes

BaseNoiseConfig

BaseNoiseConfig(level: 'float' = 0.0, scale_joint_angle: 'float' = 0.03, scale_joint_vel: 'float' = 0.5, scale_gyro: 'float' = 0.2, scale_gravity: 'float' = 0.05, scale_linvel: 'float' = 0.1)

ControlConfigBase

ControlConfigBase(action_scale: 'float' = 0.25, simulate_action_latency: 'bool' = False)

LocomotionBaseCfg

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>)

LocomotionBaseEnv

Common base environment for locomotion tasks (G1, Go1, Go2, etc.).

PdControlConfig

ControlConfigBase plus shared PD-actuator gains (Go1/Go2/Go2W defaults).

Sensor

Sensor()
class unilab.envs.locomotion.common.base.Sensor[source]

Bases: object

Sensor()

local_linvel = 'local_linvel'
gyro = 'gyro'
__init__()
class unilab.envs.locomotion.common.base.ControlConfigBase[source]

Bases: object

ControlConfigBase(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False)

Parameters:

  • action_scale (float)

  • simulate_action_latency (bool)

action_scale: float = 0.25
simulate_action_latency: bool = False
__init__(action_scale=0.25, simulate_action_latency=False)
Parameters:

  • action_scale (float)

  • simulate_action_latency (bool)

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

Bases: ControlConfigBase

ControlConfigBase plus shared PD-actuator gains (Go1/Go2/Go2W defaults).

Parameters:
Kp: float = 35.0
Kd: float = 0.5
__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5)
Parameters:
class unilab.envs.locomotion.common.base.BaseNoiseConfig[source]

Bases: object

BaseNoiseConfig(level: ‘float’ = 0.0, scale_joint_angle: ‘float’ = 0.03, scale_joint_vel: ‘float’ = 0.5, scale_gyro: ‘float’ = 0.2, scale_gravity: ‘float’ = 0.05, scale_linvel: ‘float’ = 0.1)

Parameters:
level: float = 0.0
scale_joint_angle: float = 0.03
scale_joint_vel: float = 0.5
scale_gyro: float = 0.2
scale_gravity: float = 0.05
scale_linvel: float = 0.1
__init__(level=0.0, scale_joint_angle=0.03, scale_joint_vel=0.5, scale_gyro=0.2, scale_gravity=0.05, scale_linvel=0.1)
Parameters:
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:
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:
class unilab.envs.locomotion.common.base.LocomotionBaseEnv[source]

Bases: NpEnv

Common base environment for locomotion tasks (G1, Go1, Go2, etc.).

Parameters:
__init__(cfg, backend, num_envs=1)[source]
Parameters:
property action_space: Box

Action space

apply_action(actions, state)[source]

子类实现：action → ctrl

Parameters:
Return type:

ndarray

get_local_linvel()[source]
Return type:

ndarray

get_gyro()[source]
Return type:

ndarray

get_dof_pos()[source]
Return type:

ndarray

get_dof_vel()[source]
Return type:

ndarray