Language

unilab.envs.locomotion.go2.handstand¶

Classes

`Go2DomainRandConfig`	Go2DomainRandConfig(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' = False, 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' = True, kp_multiplier_range: 'list[float]' = <factory>, randomize_kd: 'bool' = True, kd_multiplier_range: 'list[float]' = <factory>)
`Go2HandStandCfg`	Go2HandStandCfg(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: 'Go2DomainRandConfig' = <factory>)
`Go2HandStandDomainRandomizationProvider`
`Go2HandStandTask`
`InitState`	InitState()
`JoystickSensor`	JoystickSensor()
`RewardConfig`	RewardConfig(scales: 'dict[str, float]', tracking_sigma: 'float', base_height_target: 'float', target_foot_height: 'float' = 0.1, knee_height_target: 'float' = 0.08)

class unilab.envs.locomotion.go2.handstand.InitState[source]¶

Bases: object

InitState()

pos = [0.0, 0.0, 0.42]¶

__init__()¶

class unilab.envs.locomotion.go2.handstand.Go2DomainRandConfig[source]¶

Bases: DomainRandConfig

Go2DomainRandConfig(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’ = False, 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’ = True, kp_multiplier_range: ‘list[float]’ = <factory>, randomize_kd: ‘bool’ = True, kd_multiplier_range: ‘list[float]’ = <factory>)

Parameters:

randomize_base_mass (bool)
added_mass_range (list[float])
randomize_body_mass (bool)
body_mass_multiplier_range (list[float])
random_com (bool)
com_offset_x (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
randomize_ground_friction (bool)
ground_friction_multiplier_range (list[float])
randomize_dof_armature (bool)
dof_armature_multiplier_range (list[float])
push_robots (bool)
push_interval (int)
max_force (list[float])
push_body_name (str | None)
randomize_kp (bool)
kp_multiplier_range (list[float])
randomize_kd (bool)
kd_multiplier_range (list[float])

randomize_kp: bool = True¶

kp_multiplier_range: list[float]¶

randomize_kd: bool = True¶

kd_multiplier_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=False, dof_armature_multiplier_range=<factory>, push_robots=False, push_interval=750, max_force=<factory>, push_body_name=None, randomize_kp=True, kp_multiplier_range=<factory>, randomize_kd=True, kd_multiplier_range=<factory>)¶

Parameters:

randomize_base_mass (bool)
added_mass_range (list[float])
randomize_body_mass (bool)
body_mass_multiplier_range (list[float])
random_com (bool)
com_offset_x (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
randomize_ground_friction (bool)
ground_friction_multiplier_range (list[float])
randomize_dof_armature (bool)
dof_armature_multiplier_range (list[float])
push_robots (bool)
push_interval (int)
max_force (list[float])
push_body_name (str | None)
randomize_kp (bool)
kp_multiplier_range (list[float])
randomize_kd (bool)
kd_multiplier_range (list[float])

class unilab.envs.locomotion.go2.handstand.RewardConfig[source]¶

Bases: object

RewardConfig(scales: ‘dict[str, float]’, tracking_sigma: ‘float’, base_height_target: ‘float’, target_foot_height: ‘float’ = 0.1, knee_height_target: ‘float’ = 0.08)

Parameters:

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

scales: dict[str, float]¶

tracking_sigma: float¶

base_height_target: float¶

target_foot_height: float = 0.1¶

knee_height_target: float = 0.08¶

__init__(scales, tracking_sigma, base_height_target, target_foot_height=0.1, knee_height_target=0.08)¶

Parameters:

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

class unilab.envs.locomotion.go2.handstand.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']¶

global_pos = 'global_position'¶

ternamate_contact = ['base1_contact', 'base2_contact', 'base3_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']¶

penalty_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']¶

__init__()¶

class unilab.envs.locomotion.go2.handstand.Go2HandStandCfg[source]¶

Bases: Go2BaseCfg

Go2HandStandCfg(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: ‘Go2DomainRandConfig’ = <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 (Go2DomainRandConfig)

max_episode_seconds: float = 20.0¶

init_state: InitState¶

commands: Commands¶

reward_config: RewardConfig | None = None¶

sensor: JoystickSensor¶

domain_rand: Go2DomainRandConfig¶

__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 (Go2DomainRandConfig)

class unilab.envs.locomotion.go2.handstand.Go2HandStandDomainRandomizationProvider[source]¶: Bases: LocomotionDRProvider

class unilab.envs.locomotion.go2.handstand.Go2HandStandTask[source]¶

Bases: Go2BaseEnv

Parameters:: cfg (Go2HandStandCfg)

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

Parameters:: cfg (Go2HandStandCfg)

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