unilab.envs.locomotion.go2.footstand.Go2FootStandCfg

class unilab.envs.locomotion.go2.footstand.Go2FootStandCfg[source]

Bases: Go2HandStandCfg

Go2FootStandCfg(scene: ‘SceneCfg’ = <factory>, sim_dt: ‘float’ = 0.01, max_episode_seconds: ‘float’ = 10.0, 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: ‘FootstandControlConfig’ = <factory>, noise_config: ‘FootstandNoiseConfig’ = <factory>, sensor: ‘FootstandSensor’ = <factory>, asset: ‘Asset’ = <factory>, init_state: ‘InitState’ = <factory>, commands: ‘Commands’ = <factory>, reward_config: ‘RewardConfig | None’ = None, domain_rand: ‘Go2FootStandDomainRandConfig’ = <factory>, add_body_sensors: ‘bool’ = True, obs_history_len: ‘int’ = 15, soft_joint_pos_limit_factor: ‘float’ = 0.9, energy_termination_threshold: ‘float’ = inf, termination_grace_steps: ‘int’ = 100, termination_height_fraction: ‘float’ = 0.8, termination_orientation_threshold: ‘float’ = 0.2)

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 (FootstandControlConfig)

  • noise_config (FootstandNoiseConfig)

  • sensor (FootstandSensor)

  • asset (Asset)

  • init_state (InitState)

  • commands (Commands)

  • reward_config (RewardConfig | None)

  • domain_rand (Go2FootStandDomainRandConfig)

  • add_body_sensors (bool)

  • obs_history_len (int)

  • soft_joint_pos_limit_factor (float)

  • energy_termination_threshold (float)

  • termination_grace_steps (int)

  • termination_height_fraction (float)

  • termination_orientation_threshold (float)

Methods

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

validate()

validate the config

Attributes

add_body_sensors

ctrl_dt

energy_termination_threshold

max_episode_seconds

max_episode_steps

return the max episode steps

motrix_max_iterations

obs_history_len

post_step_forward_sensor

render_offset_mode

render_spacing

reward_config

scene

sim_dt

sim_substeps

return the number of simulation steps per control step

soft_joint_pos_limit_factor

termination_grace_steps

termination_height_fraction

termination_orientation_threshold

noise_config

control_config

sensor

domain_rand

init_state

commands

asset

max_episode_seconds: float = 10.0
add_body_sensors: bool = True
obs_history_len: int = 15
soft_joint_pos_limit_factor: float = 0.9
energy_termination_threshold: float = inf
termination_grace_steps: int = 100
termination_height_fraction: float = 0.8
termination_orientation_threshold: float = 0.2
noise_config: FootstandNoiseConfig
control_config: FootstandControlConfig
sensor: FootstandSensor
domain_rand: Go2FootStandDomainRandConfig
__init__(scene=<factory>, sim_dt=0.01, max_episode_seconds=10.0, 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>, add_body_sensors=True, obs_history_len=15, soft_joint_pos_limit_factor=0.9, energy_termination_threshold=inf, termination_grace_steps=100, termination_height_fraction=0.8, termination_orientation_threshold=0.2)
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 (FootstandControlConfig)

  • noise_config (FootstandNoiseConfig)

  • sensor (FootstandSensor)

  • asset (Asset)

  • init_state (InitState)

  • commands (Commands)

  • reward_config (RewardConfig | None)

  • domain_rand (Go2FootStandDomainRandConfig)

  • add_body_sensors (bool)

  • obs_history_len (int)

  • soft_joint_pos_limit_factor (float)

  • energy_termination_threshold (float)

  • termination_grace_steps (int)

  • termination_height_fraction (float)

  • termination_orientation_threshold (float)

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
reward_config: RewardConfig | None = None
scene: SceneCfg = None
sim_dt: float = 0.01
property sim_substeps: int

return the number of simulation steps per control step

validate()

validate the config

init_state: InitState
commands: Commands
asset: Asset