unilab.envs.locomotion.g1.base

Classes

Asset

Asset()

ControlConfig

ControlConfig(action_scale: 'float | np.ndarray' = 0.25, simulate_action_latency: 'bool' = False)

G1BaseCfg

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>)

G1BaseEnv

NoiseConfig

NoiseConfig(level: 'float' = 0.0, scale_joint_angle: 'float' = 0.02, scale_joint_vel: 'float' = 0.3, scale_gyro: 'float' = 0.1, scale_gravity: 'float' = 0.05, scale_linvel: 'float' = 0.1)

Sensor

Sensor(local_linvel: 'str' = 'pelvis_local_linvel', gyro: 'str' = 'torso_gyro', upvector: 'str' = 'torso_upvector')
class unilab.envs.locomotion.g1.base.NoiseConfig[source]

Bases: BaseNoiseConfig

NoiseConfig(level: ‘float’ = 0.0, scale_joint_angle: ‘float’ = 0.02, scale_joint_vel: ‘float’ = 0.3, scale_gyro: ‘float’ = 0.1, scale_gravity: ‘float’ = 0.05, scale_linvel: ‘float’ = 0.1)

Parameters:
scale_joint_angle: float = 0.02
scale_joint_vel: float = 0.3
scale_gyro: float = 0.1
__init__(level=0.0, scale_joint_angle=0.02, scale_joint_vel=0.3, scale_gyro=0.1, scale_gravity=0.05, scale_linvel=0.1)
Parameters:
class unilab.envs.locomotion.g1.base.ControlConfig[source]

Bases: ControlConfigBase

ControlConfig(action_scale: ‘float | np.ndarray’ = 0.25, simulate_action_latency: ‘bool’ = False)

Parameters:
action_scale: float | ndarray = 0.25
__init__(action_scale=0.25, simulate_action_latency=False)
Parameters:
class unilab.envs.locomotion.g1.base.Sensor[source]

Bases: Sensor

Sensor(local_linvel: ‘str’ = ‘pelvis_local_linvel’, gyro: ‘str’ = ‘torso_gyro’, upvector: ‘str’ = ‘torso_upvector’)

Parameters:

  • local_linvel (str)

  • gyro (str)

  • upvector (str)

local_linvel: str = 'pelvis_local_linvel'
gyro: str = 'torso_gyro'
upvector: str = 'torso_upvector'
__init__(local_linvel='pelvis_local_linvel', gyro='torso_gyro', upvector='torso_upvector')
Parameters:

  • local_linvel (str)

  • gyro (str)

  • upvector (str)

class unilab.envs.locomotion.g1.base.Asset[source]

Bases: object

Asset()

base_name = 'pelvis'
foot_name = 'ankle_roll_link'
ground = 'floor'
__init__()
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:
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:
class unilab.envs.locomotion.g1.base.G1BaseEnv[source]

Bases: LocomotionBaseEnv

Parameters: