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unilab.envs.locomotion.common.commands

Functions

apply_heading_yaw_feedback(commands, ...[, clip])	In-place P-control on heading error → commands[:, 2] (yaw rate).
sample_heading_commands(env, num_samples)	Uniformly sample heading targets from env.cfg.commands.heading_range.
sample_velocity_commands(rng, num_samples, ...)
zero_small_xy_commands(commands, *[, threshold])	Zero commands[:, :2] in-place wherever its norm is below threshold.

Classes

Commands

Commands(vel_limit: 'list[list[float]]' = <factory>, resampling_time: 'float' = 0.0, heading_command: 'bool' = False, heading_range: 'list[float]' = <factory>, heading_control_stiffness: 'float' = 0.5, rel_standing_envs: 'float' = 0.0)

class unilab.envs.locomotion.common.commands.Commands

Bases: object

Commands(vel_limit: ‘list[list[float]]’ = <factory>, resampling_time: ‘float’ = 0.0, heading_command: ‘bool’ = False, heading_range: ‘list[float]’ = <factory>, heading_control_stiffness: ‘float’ = 0.5, rel_standing_envs: ‘float’ = 0.0)

Parameters:

• vel_limit (list[list[float]])

• resampling_time (float)

• heading_command (bool)

• heading_range (list[float])

• heading_control_stiffness (float)

• rel_standing_envs (float)

vel_limit: list[list[float]]

resampling_time: float = 0.0

heading_command: bool = False

heading_range: list[float]

heading_control_stiffness: float = 0.5

rel_standing_envs: float = 0.0

__init__(vel_limit=<factory>, resampling_time=0.0, heading_command=False, heading_range=<factory>, heading_control_stiffness=0.5, rel_standing_envs=0.0)

Parameters:

• vel_limit (list[list[float]])

• resampling_time (float)

• heading_command (bool)

• heading_range (list[float])

• heading_control_stiffness (float)

• rel_standing_envs (float)

unilab.envs.locomotion.common.commands.sample_velocity_commands(rng, num_samples, low, high)

Parameters:

• rng (Generator)

• num_samples (int)

• low (ndarray)

• high (ndarray)

Return type:

ndarray

unilab.envs.locomotion.common.commands.zero_small_xy_commands(commands, *, threshold=0.2)

Zero commands[:, :2] in-place wherever its norm is below threshold.

Parameters:

• commands (ndarray)

• threshold (float)

Return type:

None

unilab.envs.locomotion.common.commands.sample_heading_commands(env, num_samples)

Uniformly sample heading targets from env.cfg.commands.heading_range.

Parameters:

• env (Any)

• num_samples (int)

Return type:

ndarray

unilab.envs.locomotion.common.commands.apply_heading_yaw_feedback(commands, base_quat, heading_commands, *, stiffness, clip=2.0)

In-place P-control on heading error → commands[:, 2] (yaw rate).

Parameters:

• commands (ndarray)

• base_quat (ndarray)

• heading_commands (ndarray)

• stiffness (float)

• clip (float)

Return type:

None