unilab.envs.locomotion.g1.joystick.G1WalkEnvCfg

class unilab.envs.locomotion.g1.joystick.G1WalkEnvCfg[source]

Bases: G1BaseCfg

G1WalkEnvCfg(scene: ‘SceneCfg’ = <factory>, sim_dt: ‘float’ = 0.006666666666666667, max_episode_seconds: ‘float’ = 20.0, 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>, init_state: ‘InitState’ = <factory>, commands: ‘Commands’ = <factory>, reward_config: ‘G1RewardConfig | None’ = None, domain_rand: ‘G1DomainRandConfig’ = <factory>, gait_phase_init_mode: ‘str’ = ‘offset_phase’, reset_base_qvel_limit: ‘float’ = 0.5, curriculum: ‘CurriculumConfig’ = <factory>)

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (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)

  • init_state (InitState)

  • commands (Commands)

  • reward_config (G1RewardConfig | None)

  • domain_rand (G1DomainRandConfig)

  • gait_phase_init_mode (str)

  • reset_base_qvel_limit (float)

  • curriculum (CurriculumConfig)

Methods

__init__([scene, sim_dt, ...])

validate()

validate the config

Attributes

ctrl_dt

gait_phase_init_mode

max_episode_seconds

max_episode_steps

return the max episode steps

motrix_max_iterations

post_step_forward_sensor

render_offset_mode

render_spacing

reset_base_qvel_limit

reward_config

scene

sim_dt

sim_substeps

return the number of simulation steps per control step

init_state

commands

domain_rand

curriculum

noise_config

control_config

sensor

asset

scene: SceneCfg = None
max_episode_seconds: float = 20.0
init_state: InitState
commands: Commands
reward_config: G1RewardConfig | None = None
domain_rand: G1DomainRandConfig
gait_phase_init_mode: str = 'offset_phase'
reset_base_qvel_limit: float = 0.5
curriculum: CurriculumConfig
__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=20.0, 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>, init_state=<factory>, commands=<factory>, reward_config=None, domain_rand=<factory>, gait_phase_init_mode='offset_phase', reset_base_qvel_limit=0.5, curriculum=<factory>)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (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)

  • init_state (InitState)

  • commands (Commands)

  • reward_config (G1RewardConfig | None)

  • domain_rand (G1DomainRandConfig)

  • gait_phase_init_mode (str)

  • reset_base_qvel_limit (float)

  • curriculum (CurriculumConfig)

ctrl_dt: float = 0.02
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
sim_dt: float = 0.006666666666666667
property sim_substeps: int

return the number of simulation steps per control step

validate()

validate the config

noise_config: NoiseConfig
control_config: ControlConfig
sensor: Sensor
asset: Asset