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unilab.envs.locomotion.g1.base.G1BaseCfg¶

class unilab.envs.locomotion.g1.base.G1BaseCfg[source]¶

Bases: LocomotionBaseCfg

G1BaseCfg(scene: unilab.base.scene.SceneCfg | None = None, sim_dt: ‘float’ = 0.006666666666666667, 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: ‘ControlConfig’ = <factory>, noise_config: ‘NoiseConfig’ = <factory>, sensor: ‘Sensor’ = <factory>, asset: ‘Asset’ = <factory>)

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)
control_config (ControlConfig)
noise_config (NoiseConfig)
sensor (Sensor)
asset (Asset)

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
`noise_config`
`control_config`
`sensor`
`asset`

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

sim_dt: float = 0.006666666666666667¶

ctrl_dt: float = 0.02¶

__init__(scene=None, sim_dt=0.006666666666666667, 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>, asset=<factory>)¶

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)
control_config (ControlConfig)
noise_config (NoiseConfig)
sensor (Sensor)
asset (Asset)

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