unilab.envs.locomotion.go2.footstand

Classes

FootstandControlConfig

FootstandControlConfig(action_scale: 'float' = 0.25, simulate_action_latency: 'bool' = False, Kp: 'float' = 35.0, Kd: 'float' = 0.5, clip_actions: 'float' = 1.0)

FootstandNoiseConfig

FootstandNoiseConfig(level: 'float' = 1.0, scale_joint_angle: 'float' = 0.01, scale_joint_vel: 'float' = 1.5, scale_gyro: 'float' = 0.2, scale_gravity: 'float' = 0.05, scale_linvel: 'float' = 0.1)

FootstandSensor

FootstandSensor()

Go2FootStandCfg

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)

Go2FootStandDomainRandConfig

Go2FootStandDomainRandConfig(randomize_base_mass: 'bool' = False, added_mass_range: 'list[float]' = <factory>, randomize_body_mass: 'bool' = False, body_mass_multiplier_range: 'list[float]' = <factory>, random_com: 'bool' = False, com_offset_x: 'list[float]' = <factory>, randomize_gravity: 'bool' = False, gravity_range: 'list[list[float]]' = <factory>, randomize_ground_friction: 'bool' = False, ground_friction_multiplier_range: 'list[float]' = <factory>, randomize_dof_armature: 'bool' = True, dof_armature_multiplier_range: 'list[float]' = <factory>, push_robots: 'bool' = False, push_interval: 'int' = 750, max_force: 'list[float]' = <factory>, push_body_name: 'str | None' = None, randomize_kp: 'bool' = False, kp_multiplier_range: 'list[float]' = <factory>, randomize_kd: 'bool' = False, kd_multiplier_range: 'list[float]' = <factory>, randomize_floor_friction: 'bool' = True, floor_friction_range: 'list[float]' = <factory>, randomize_link_mass: 'bool' = True, link_mass_scale_range: 'list[float]' = <factory>, torso_added_mass_range: 'list[float]' = <factory>, randomize_torso_com: 'bool' = True, torso_com_offset_range: 'list[float]' = <factory>, dof_armature_scale_range: 'list[float]' = <factory>, randomize_reset_joint_qpos: 'bool' = True, reset_joint_qpos_range: 'list[float]' = <factory>)

Go2FootStandDomainRandomizationProvider

Go2FootStandTask

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

Bases: NoiseConfig

FootstandNoiseConfig(level: ‘float’ = 1.0, scale_joint_angle: ‘float’ = 0.01, scale_joint_vel: ‘float’ = 1.5, scale_gyro: ‘float’ = 0.2, scale_gravity: ‘float’ = 0.05, scale_linvel: ‘float’ = 0.1)

Parameters:
level: float = 1.0
scale_joint_angle: float = 0.01
scale_joint_vel: float = 1.5
scale_gyro: float = 0.2
scale_gravity: float = 0.05
scale_linvel: float = 0.1
__init__(level=1.0, scale_joint_angle=0.01, scale_joint_vel=1.5, scale_gyro=0.2, scale_gravity=0.05, scale_linvel=0.1)
Parameters:
class unilab.envs.locomotion.go2.footstand.FootstandControlConfig[source]

Bases: ControlConfig

FootstandControlConfig(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False, Kp: ‘float’ = 35.0, Kd: ‘float’ = 0.5, clip_actions: ‘float’ = 1.0)

Parameters:
clip_actions: float = 1.0
__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5, clip_actions=1.0)
Parameters:
class unilab.envs.locomotion.go2.footstand.Go2FootStandDomainRandConfig[source]

Bases: Go2DomainRandConfig

Go2FootStandDomainRandConfig(randomize_base_mass: ‘bool’ = False, added_mass_range: ‘list[float]’ = <factory>, randomize_body_mass: ‘bool’ = False, body_mass_multiplier_range: ‘list[float]’ = <factory>, random_com: ‘bool’ = False, com_offset_x: ‘list[float]’ = <factory>, randomize_gravity: ‘bool’ = False, gravity_range: ‘list[list[float]]’ = <factory>, randomize_ground_friction: ‘bool’ = False, ground_friction_multiplier_range: ‘list[float]’ = <factory>, randomize_dof_armature: ‘bool’ = True, dof_armature_multiplier_range: ‘list[float]’ = <factory>, push_robots: ‘bool’ = False, push_interval: ‘int’ = 750, max_force: ‘list[float]’ = <factory>, push_body_name: ‘str | None’ = None, randomize_kp: ‘bool’ = False, kp_multiplier_range: ‘list[float]’ = <factory>, randomize_kd: ‘bool’ = False, kd_multiplier_range: ‘list[float]’ = <factory>, randomize_floor_friction: ‘bool’ = True, floor_friction_range: ‘list[float]’ = <factory>, randomize_link_mass: ‘bool’ = True, link_mass_scale_range: ‘list[float]’ = <factory>, torso_added_mass_range: ‘list[float]’ = <factory>, randomize_torso_com: ‘bool’ = True, torso_com_offset_range: ‘list[float]’ = <factory>, dof_armature_scale_range: ‘list[float]’ = <factory>, randomize_reset_joint_qpos: ‘bool’ = True, reset_joint_qpos_range: ‘list[float]’ = <factory>)

Parameters:
randomize_kp: bool = False
randomize_kd: bool = False
randomize_base_mass: bool = False
random_com: bool = False
push_robots: bool = False
randomize_floor_friction: bool = True
floor_friction_range: list[float]
torso_added_mass_range: list[float]
randomize_torso_com: bool = True
torso_com_offset_range: list[float]
randomize_dof_armature: bool = True
dof_armature_scale_range: list[float]
randomize_reset_joint_qpos: bool = True
reset_joint_qpos_range: list[float]
__init__(randomize_base_mass=False, added_mass_range=<factory>, randomize_body_mass=False, body_mass_multiplier_range=<factory>, random_com=False, com_offset_x=<factory>, randomize_gravity=False, gravity_range=<factory>, randomize_ground_friction=False, ground_friction_multiplier_range=<factory>, randomize_dof_armature=True, dof_armature_multiplier_range=<factory>, push_robots=False, push_interval=750, max_force=<factory>, push_body_name=None, randomize_kp=False, kp_multiplier_range=<factory>, randomize_kd=False, kd_multiplier_range=<factory>, randomize_floor_friction=True, floor_friction_range=<factory>, randomize_link_mass=True, link_mass_scale_range=<factory>, torso_added_mass_range=<factory>, randomize_torso_com=True, torso_com_offset_range=<factory>, dof_armature_scale_range=<factory>, randomize_reset_joint_qpos=True, reset_joint_qpos_range=<factory>)
Parameters:
class unilab.envs.locomotion.go2.footstand.FootstandSensor[source]

Bases: JoystickSensor

FootstandSensor()

accelerometer = 'accelerometer'
global_angvel = 'global_angvel'
ternamate_contact = ['RL_hip_contact', 'RR_hip_contact', 'RL_thigh_contact', 'RR_thigh_contact', 'RL_calf_contact1', 'RL_calf_contact2', 'RR_calf_contact1', 'RR_calf_contact2']
penalty_contact = ['FL_hip_contact', 'FR_hip_contact', 'FL_thigh_contact', 'FR_thigh_contact', 'FL_calf_contact1', 'FL_calf_contact2', 'FR_calf_contact1', 'FR_calf_contact2']
__init__()
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)

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)

class unilab.envs.locomotion.go2.footstand.Go2FootStandDomainRandomizationProvider[source]

Bases: Go2HandStandDomainRandomizationProvider

build_reset_plan(env, env_ids)[source]
Parameters:
Return type:

ResetPlan

class unilab.envs.locomotion.go2.footstand.Go2FootStandTask[source]

Bases: Go2HandStandTask

Parameters:

cfg (Go2FootStandCfg)

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

cfg (Go2FootStandCfg)

property obs_groups_spec: dict[str, int]

101}.

Subclasses MUST override this property.

Type:

Return observation group dimensions, e.g. {“obs”

Type:

98, “critic”

apply_action(actions, state)[source]

子类实现：action → ctrl

Parameters:
Return type:

ndarray

update_state(state)[source]

子类实现：计算 obs/reward/terminated

Parameters:

state (NpEnvState)

Return type:

NpEnvState