Language

unilab.envs.locomotion.g1.joystick.G1WalkLegacyRewardConfig¶

class unilab.envs.locomotion.g1.joystick.G1WalkLegacyRewardConfig[source]¶

Bases: G1RewardConfig

G1WalkLegacyRewardConfig(scales: ‘dict[str, float]’, tracking_sigma: ‘float’, gait_frequency: ‘float’, feet_phase_swing_height: ‘float’, feet_phase_tracking_sigma: ‘float’, base_height_target: ‘float’, min_base_height: ‘float’, max_tilt_deg: ‘float’, min_forward_speed_for_gait_reward: ‘float’ = 0.0, close_feet_threshold: ‘float’ = 0.15, pose_weights: ‘list[float]’ = <factory>)

Parameters:

scales (dict[str, float])
tracking_sigma (float)
gait_frequency (float)
feet_phase_swing_height (float)
feet_phase_tracking_sigma (float)
base_height_target (float)
min_base_height (float)
max_tilt_deg (float)
min_forward_speed_for_gait_reward (float)
close_feet_threshold (float)
pose_weights (list[float])

Methods

__init__(scales, tracking_sigma, ...[, ...])

Attributes

`close_feet_threshold`
`min_forward_speed_for_gait_reward`
`scales`
`tracking_sigma`
`gait_frequency`
`feet_phase_swing_height`
`feet_phase_tracking_sigma`
`base_height_target`
`min_base_height`
`max_tilt_deg`
`pose_weights`

__init__(scales, tracking_sigma, gait_frequency, feet_phase_swing_height, feet_phase_tracking_sigma, base_height_target, min_base_height, max_tilt_deg, min_forward_speed_for_gait_reward=0.0, close_feet_threshold=0.15, pose_weights=<factory>)¶

Parameters:

scales (dict[str, float])
tracking_sigma (float)
gait_frequency (float)
feet_phase_swing_height (float)
feet_phase_tracking_sigma (float)
base_height_target (float)
min_base_height (float)
max_tilt_deg (float)
min_forward_speed_for_gait_reward (float)
close_feet_threshold (float)
pose_weights (list[float])

close_feet_threshold: float = 0.15¶

min_forward_speed_for_gait_reward: float = 0.0¶

scales: dict[str, float]¶

tracking_sigma: float¶

gait_frequency: float¶

feet_phase_swing_height: float¶

feet_phase_tracking_sigma: float¶

base_height_target: float¶

min_base_height: float¶

max_tilt_deg: float¶

pose_weights: list[float]¶