Language

unilab.envs.locomotion.go2_arm.base¶

Functions

build_go2_arm_position_gains(cfg)

Classes

`Asset`	Asset(base_name: 'str' = 'base', foot_name: 'str' = 'foot', ground: 'str' = 'floor', ee_site_name: 'str' = 'endpoint', ee_body_name: 'str' = 'link6', arm_joint_names: 'tuple[str, ...]' = ('joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'))
`ControlConfig`	ControlConfig(action_scale: 'float' = 0.25, simulate_action_latency: 'bool' = False, Kp: 'float' = 35.0, Kd: 'float' = 0.5, leg_kp: 'float \| list[float] \| None' = 60.0, leg_kd: 'float \| list[float] \| None' = 2.0, arm_kp: 'float \| list[float] \| None' = <factory>, arm_kd: 'float \| list[float] \| None' = <factory>, arm_action_scale: 'float' = 0.0)
`Go2ArmBaseCfg`	Go2ArmBaseCfg(scene: unilab.base.scene.SceneCfg \| None = None, sim_dt: 'float' = 0.01, max_episode_seconds: Optional[float] = None, 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: 'Go2ArmSensor' = <factory>, ik: 'IKConfig' = <factory>, asset: 'Asset' = <factory>, iterations: 'int \| None' = None)
`Go2ArmBaseEnv`
`Go2ArmSensor`	Go2ArmSensor(feet_force: 'list[str]' = <factory>, feet_pos: 'list[str]' = <factory>, ee_local_pos: 'str' = 'endpoint_pos', ee_local_quat: 'str' = 'endpoint_quat', ee_local_vel: 'str' = 'endpoint_vel', ee_relative_pos: 'str' = 'endpoint_relative_pos', ee_relative_quat: 'str' = 'endpoint_relative_quat', arm_ref_world_quat: 'str' = 'armbasepoint_world_quat')
`IKConfig`	IKConfig(damping: 'float' = 0.05, gain: 'float' = 1.0, dq_clip: 'float' = 0.2, use_orientation: 'bool' = False, orientation_mode: 'str' = 'target')
`NoiseConfig`	NoiseConfig(level: 'float' = 0.0, scale_joint_angle: 'float' = 0.03, scale_joint_vel: 'float' = 0.5, scale_gyro: 'float' = 0.2, scale_gravity: 'float' = 0.05, scale_linvel: 'float' = 0.1, scale_ee_pos: 'float' = 0.02)

class unilab.envs.locomotion.go2_arm.base.NoiseConfig[source]¶

Bases: object

NoiseConfig(level: ‘float’ = 0.0, scale_joint_angle: ‘float’ = 0.03, scale_joint_vel: ‘float’ = 0.5, scale_gyro: ‘float’ = 0.2, scale_gravity: ‘float’ = 0.05, scale_linvel: ‘float’ = 0.1, scale_ee_pos: ‘float’ = 0.02)

Parameters:

level (float)
scale_joint_angle (float)
scale_joint_vel (float)
scale_gyro (float)
scale_gravity (float)
scale_linvel (float)
scale_ee_pos (float)

level: float = 0.0¶

scale_joint_angle: float = 0.03¶

scale_joint_vel: float = 0.5¶

scale_gyro: float = 0.2¶

scale_gravity: float = 0.05¶

scale_linvel: float = 0.1¶

scale_ee_pos: float = 0.02¶

__init__(level=0.0, scale_joint_angle=0.03, scale_joint_vel=0.5, scale_gyro=0.2, scale_gravity=0.05, scale_linvel=0.1, scale_ee_pos=0.02)¶

Parameters:

level (float)
scale_joint_angle (float)
scale_joint_vel (float)
scale_gyro (float)
scale_gravity (float)
scale_linvel (float)
scale_ee_pos (float)

class unilab.envs.locomotion.go2_arm.base.ControlConfig[source]¶

Bases: ControlConfigBase

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)
leg_kp (float | list[float] | None)
leg_kd (float | list[float] | None)
arm_kp (float | list[float] | None)
arm_kd (float | list[float] | None)
arm_action_scale (float)

Kp: float = 35.0¶

Kd: float = 0.5¶

leg_kp: float | list[float] | None = 60.0¶

leg_kd: float | list[float] | None = 2.0¶

arm_kp: float | list[float] | None¶

arm_kd: float | list[float] | None¶

arm_action_scale: float = 0.0¶

__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5, leg_kp=60.0, leg_kd=2.0, arm_kp=<factory>, arm_kd=<factory>, arm_action_scale=0.0)¶

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)
leg_kp (float | list[float] | None)
leg_kd (float | list[float] | None)
arm_kp (float | list[float] | None)
arm_kd (float | list[float] | None)
arm_action_scale (float)

class unilab.envs.locomotion.go2_arm.base.IKConfig[source]¶

Bases: object

IKConfig(damping: ‘float’ = 0.05, gain: ‘float’ = 1.0, dq_clip: ‘float’ = 0.2, use_orientation: ‘bool’ = False, orientation_mode: ‘str’ = ‘target’)

Parameters:

damping (float)
gain (float)
dq_clip (float)
use_orientation (bool)
orientation_mode (str)

damping: float = 0.05¶

gain: float = 1.0¶

dq_clip: float = 0.2¶

use_orientation: bool = False¶

orientation_mode: str = 'target'¶

__init__(damping=0.05, gain=1.0, dq_clip=0.2, use_orientation=False, orientation_mode='target')¶

Parameters:

damping (float)
gain (float)
dq_clip (float)
use_orientation (bool)
orientation_mode (str)

class unilab.envs.locomotion.go2_arm.base.Asset[source]¶

Bases: object

Asset(base_name: ‘str’ = ‘base’, foot_name: ‘str’ = ‘foot’, ground: ‘str’ = ‘floor’, ee_site_name: ‘str’ = ‘endpoint’, ee_body_name: ‘str’ = ‘link6’, arm_joint_names: ‘tuple[str, …]’ = (‘joint1’, ‘joint2’, ‘joint3’, ‘joint4’, ‘joint5’, ‘joint6’))

Parameters:

base_name (str)
foot_name (str)
ground (str)
ee_site_name (str)
ee_body_name (str)
arm_joint_names (tuple[str, ...])

base_name: str = 'base'¶

foot_name: str = 'foot'¶

ground: str = 'floor'¶

ee_site_name: str = 'endpoint'¶

ee_body_name: str = 'link6'¶

arm_joint_names: tuple[str, ...] = ('joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6')¶

__init__(base_name='base', foot_name='foot', ground='floor', ee_site_name='endpoint', ee_body_name='link6', arm_joint_names=('joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'))¶

Parameters:

base_name (str)
foot_name (str)
ground (str)
ee_site_name (str)
ee_body_name (str)
arm_joint_names (tuple[str, ...])

class unilab.envs.locomotion.go2_arm.base.Go2ArmSensor[source]¶

Bases: Sensor

Go2ArmSensor(feet_force: ‘list[str]’ = <factory>, feet_pos: ‘list[str]’ = <factory>, ee_local_pos: ‘str’ = ‘endpoint_pos’, ee_local_quat: ‘str’ = ‘endpoint_quat’, ee_local_vel: ‘str’ = ‘endpoint_vel’, ee_relative_pos: ‘str’ = ‘endpoint_relative_pos’, ee_relative_quat: ‘str’ = ‘endpoint_relative_quat’, arm_ref_world_quat: ‘str’ = ‘armbasepoint_world_quat’)

Parameters:

feet_force (list[str])
feet_pos (list[str])
ee_local_pos (str)
ee_local_quat (str)
ee_local_vel (str)
ee_relative_pos (str)
ee_relative_quat (str)
arm_ref_world_quat (str)

feet_force: list[str]¶

feet_pos: list[str]¶

ee_local_pos: str = 'endpoint_pos'¶

ee_local_quat: str = 'endpoint_quat'¶

ee_local_vel: str = 'endpoint_vel'¶

ee_relative_pos: str = 'endpoint_relative_pos'¶

ee_relative_quat: str = 'endpoint_relative_quat'¶

arm_ref_world_quat: str = 'armbasepoint_world_quat'¶

__init__(feet_force=<factory>, feet_pos=<factory>, ee_local_pos='endpoint_pos', ee_local_quat='endpoint_quat', ee_local_vel='endpoint_vel', ee_relative_pos='endpoint_relative_pos', ee_relative_quat='endpoint_relative_quat', arm_ref_world_quat='armbasepoint_world_quat')¶

Parameters:

feet_force (list[str])
feet_pos (list[str])
ee_local_pos (str)
ee_local_quat (str)
ee_local_vel (str)
ee_relative_pos (str)
ee_relative_quat (str)
arm_ref_world_quat (str)

class unilab.envs.locomotion.go2_arm.base.Go2ArmBaseCfg[source]¶

Bases: LocomotionBaseCfg

Go2ArmBaseCfg(scene: unilab.base.scene.SceneCfg | None = None, sim_dt: ‘float’ = 0.01, max_episode_seconds: Optional[float] = None, 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: ‘Go2ArmSensor’ = <factory>, ik: ‘IKConfig’ = <factory>, asset: ‘Asset’ = <factory>, iterations: ‘int | None’ = None)

Parameters:

scene (SceneCfg | None)
sim_dt (float)
max_episode_seconds (Optional[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 (Go2ArmSensor)
ik (IKConfig)
asset (Asset)
iterations (int | None)

noise_config: NoiseConfig¶

control_config: ControlConfig¶

ik: IKConfig¶

asset: Asset¶

sensor: Go2ArmSensor¶

iterations: int | None = None¶

sim_dt: float = 0.01¶

ctrl_dt: float = 0.02¶

__init__(scene=None, sim_dt=0.01, max_episode_seconds=None, 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>, ik=<factory>, asset=<factory>, iterations=None)¶

Parameters:

scene (SceneCfg | None)
sim_dt (float)
max_episode_seconds (Optional[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 (Go2ArmSensor)
ik (IKConfig)
asset (Asset)
iterations (int | None)

unilab.envs.locomotion.go2_arm.base.build_go2_arm_position_gains(cfg)[source]¶

Parameters:: cfg (ControlConfig)
Return type:: dict[str, ndarray]

class unilab.envs.locomotion.go2_arm.base.Go2ArmBaseEnv[source]¶

Bases: LocomotionBaseEnv

Parameters:

cfg (Go2ArmBaseCfg)
backend (SimBackend)
num_envs (int)

__init__(cfg, backend, num_envs=1)[source]¶

Parameters:

cfg (Go2ArmBaseCfg)
backend (SimBackend)
num_envs (int)

property arm_dof_pos_indices: ndarray¶

property arm_jacobian_dof_indices: ndarray¶

get_foot_pos()[source]¶

Get foot positions. Returns shape (num_envs, 4, 3).

Return type:: ndarray

get_foot_contact()[source]¶

Get foot contact values. Returns shape (num_envs, 4).

Return type:: ndarray

get_ee_local_pose()[source]¶

Return end-effector pose expressed in the arm reference frame.

Return type:: tuple[ndarray, ndarray]

get_arm_dof_pos()[source]¶

Return type:: ndarray

get_arm_dof_vel()[source]¶

Return type:: ndarray

compute_arm_ik_delta(goal_local_pos, curr_local_pos, goal_local_quat=None, curr_local_quat=None)[source]¶

Compute damped least-squares IK delta for the 6 arm joints.

Position and optional orientation errors are expressed in the arm reference frame (armbasepoint). MuJoCo provides world-frame site Jacobians, so both translational and rotational blocks are rotated into that same frame before solving.

Parameters:

goal_local_pos (ndarray)
curr_local_pos (ndarray)
goal_local_quat (ndarray | None)
curr_local_quat (ndarray | None)

Return type:

ndarray