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unilab.envs.locomotion.g1.symmetry

MuJoCo-only G1 symmetry augmentation owned by the task/backend layer.

Classes

G1SymmetryAugmentation

Runtime symmetry adapter derived from the MuJoCo actuator ordering.

class unilab.envs.locomotion.g1.symmetry.G1SymmetryAugmentation

Bases: SymmetryAugmentation

Runtime symmetry adapter derived from the MuJoCo actuator ordering.

Parameters:

• obs_layouts (dict[str, tuple[tuple[str, int], ...]])

• device (str)

batch_multiplier: int = 2

__init__(model, obs_layouts, *, device='cuda')

Parameters:

• obs_layouts (dict[str, tuple[tuple[str, int], ...]])

• device (str)

mirror_action(action)

Parameters:

action (Tensor)

Return type:

Tensor

mirror_obs(obs, *, obs_group='obs')

Parameters:

• obs (Tensor)

• obs_group (str)

Return type:

Tensor

augment_obs_and_actions(obs, actions, *, obs_group='obs')

Parameters:

• obs (Tensor)

• actions (Tensor)

• obs_group (str)

Return type:

tuple[Tensor, Tensor]