Language

unilab.envs.locomotion.go1.joystick¶

Classes

`Go1JoystickCfg`	Go1JoystickCfg(scene: 'SceneCfg' = <factory>, sim_dt: 'float' = 0.01, 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: 'JoystickSensor' = <factory>, asset: 'Asset' = <factory>, init_state: 'InitState' = <factory>, commands: 'Commands' = <factory>, reward_config: 'RewardConfig \| None' = None, domain_rand: 'DomainRandConfig' = <factory>)
`Go1JoystickDomainRandomizationProvider`
`Go1WalkTask`
`InitState`	InitState()
`JoystickSensor`	JoystickSensor()
`RewardConfig`	RewardConfig(scales: 'dict[str, float]', tracking_sigma: 'float', base_height_target: 'float')

class unilab.envs.locomotion.go1.joystick.InitState[source]¶

Bases: object

InitState()

pos = [0.0, 0.0, 0.45]¶

__init__()¶

class unilab.envs.locomotion.go1.joystick.RewardConfig[source]¶

Bases: object

RewardConfig(scales: ‘dict[str, float]’, tracking_sigma: ‘float’, base_height_target: ‘float’)

Parameters:

scales (dict[str, float])
tracking_sigma (float)
base_height_target (float)

scales: dict[str, float]¶

tracking_sigma: float¶

base_height_target: float¶

__init__(scales, tracking_sigma, base_height_target)¶

Parameters:

scales (dict[str, float])
tracking_sigma (float)
base_height_target (float)

class unilab.envs.locomotion.go1.joystick.JoystickSensor[source]¶

Bases: object

JoystickSensor()

local_linvel = 'local_linvel'¶

gyro = 'gyro'¶

feet_force = ['FL_foot_contact', 'FR_foot_contact', 'RL_foot_contact', 'RR_foot_contact']¶

feet_pos = ['FL_pos', 'FR_pos', 'RL_pos', 'RR_pos']¶

__init__()¶

class unilab.envs.locomotion.go1.joystick.Go1JoystickCfg[source]¶

Bases: Go1BaseCfg

Go1JoystickCfg(scene: ‘SceneCfg’ = <factory>, sim_dt: ‘float’ = 0.01, 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: ‘JoystickSensor’ = <factory>, asset: ‘Asset’ = <factory>, init_state: ‘InitState’ = <factory>, commands: ‘Commands’ = <factory>, reward_config: ‘RewardConfig | None’ = None, domain_rand: ‘DomainRandConfig’ = <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 (JoystickSensor)
asset (Asset)
init_state (InitState)
commands (Commands)
reward_config (RewardConfig | None)
domain_rand (DomainRandConfig)

max_episode_seconds: float = 20.0¶

init_state: InitState¶

commands: Commands¶

reward_config: RewardConfig | None = None¶

sensor: JoystickSensor¶

domain_rand: DomainRandConfig¶

__init__(scene=<factory>, sim_dt=0.01, 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>)¶

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 (JoystickSensor)
asset (Asset)
init_state (InitState)
commands (Commands)
reward_config (RewardConfig | None)
domain_rand (DomainRandConfig)

class unilab.envs.locomotion.go1.joystick.Go1JoystickDomainRandomizationProvider[source]¶: Bases: LocomotionDRProvider

class unilab.envs.locomotion.go1.joystick.Go1WalkTask[source]¶

Bases: Go1BaseEnv

Parameters:: cfg (Go1JoystickCfg)

__init__(cfg, num_envs=1, backend_type='mujoco')[source]¶

Parameters:: cfg (Go1JoystickCfg)

property obs_groups_spec: dict[str, int]¶

101}.

Subclasses MUST override this property.

Type:: Return observation group dimensions, e.g. {“obs”
Type:: 98, “critic”

update_state(state)[source]¶

子类实现：计算 obs/reward/terminated

Parameters:: state (NpEnvState)
Return type:: NpEnvState