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unilab.envs.locomotion.go2w.base

Functions

compute_go2w_motor_ctrl(policy_ctrl, ...)	Convert Go2W owner-level controls into motor actuator torques.
stack_joint_sensors(backend, suffix, *, dtype)

Classes

Asset	Asset()
ControlConfig	ControlConfig(action_scale: 'float' = 0.25, simulate_action_latency: 'bool' = False, Kp: 'float' = 35.0, Kd: 'float' = 0.5, hip_action_scale: 'float | None' = None, wheel_action_scale: 'float' = 10.0, wheel_Kd: 'float' = 0.5, clip_actions: 'float' = 1.0)
Go2WBaseCfg	Go2WBaseCfg(scene: unilab.base.scene.SceneCfg | None = None, sim_dt: 'float' = 0.005, 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: 'Sensor' = <factory>, asset: 'Asset' = <factory>)
Go2WBaseEnv
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_wheel_vel: 'float' = 0.5)

class unilab.envs.locomotion.go2w.base.NoiseConfig

Bases: BaseNoiseConfig

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_wheel_vel: ‘float’ = 0.5)

Parameters:

• level (float)

• scale_joint_angle (float)

• scale_joint_vel (float)

• scale_gyro (float)

• scale_gravity (float)

• scale_linvel (float)

• scale_wheel_vel (float)

scale_wheel_vel: float = 0.5

__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_wheel_vel=0.5)

Parameters:

• level (float)

• scale_joint_angle (float)

• scale_joint_vel (float)

• scale_gyro (float)

• scale_gravity (float)

• scale_linvel (float)

• scale_wheel_vel (float)

class unilab.envs.locomotion.go2w.base.ControlConfig

Bases: PdControlConfig

ControlConfig(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False, Kp: ‘float’ = 35.0, Kd: ‘float’ = 0.5, hip_action_scale: ‘float | None’ = None, wheel_action_scale: ‘float’ = 10.0, wheel_Kd: ‘float’ = 0.5, clip_actions: ‘float’ = 1.0)

Parameters:

• action_scale (float)

• simulate_action_latency (bool)

• Kp (float)

• Kd (float)

• hip_action_scale (float | None)

• wheel_action_scale (float)

• wheel_Kd (float)

• clip_actions (float)

action_scale: float = 0.25

hip_action_scale: float | None = None

wheel_action_scale: float = 10.0

wheel_Kd: float = 0.5

clip_actions: float = 1.0

__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5, hip_action_scale=None, wheel_action_scale=10.0, wheel_Kd=0.5, clip_actions=1.0)

Parameters:

• action_scale (float)

• simulate_action_latency (bool)

• Kp (float)

• Kd (float)

• hip_action_scale (float | None)

• wheel_action_scale (float)

• wheel_Kd (float)

• clip_actions (float)

class unilab.envs.locomotion.go2w.base.Asset

Bases: object

Asset()

base_name = 'base_link'

ground = 'floor'

__init__()

class unilab.envs.locomotion.go2w.base.Go2WBaseCfg

Bases: LocomotionBaseCfg

Go2WBaseCfg(scene: unilab.base.scene.SceneCfg | None = None, sim_dt: ‘float’ = 0.005, 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: ‘Sensor’ = <factory>, asset: ‘Asset’ = <factory>)

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 (Sensor)

• asset (Asset)

noise_config: NoiseConfig

control_config: ControlConfig

asset: Asset

sim_dt: float = 0.005

ctrl_dt: float = 0.02

__init__(scene=None, sim_dt=0.005, 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>, asset=<factory>)

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 (Sensor)

• asset (Asset)

unilab.envs.locomotion.go2w.base.stack_joint_sensors(backend, suffix, *, dtype)

Parameters:

• suffix (str)

• dtype (dtype | type)

Return type:

ndarray

unilab.envs.locomotion.go2w.base.compute_go2w_motor_ctrl(policy_ctrl, joint_pos, joint_vel, leg_kp, leg_kd, wheel_kd, ctrl_lower, ctrl_upper, out)

Convert Go2W owner-level controls into motor actuator torques.

Hot path: shapes/dtypes are validated by the owning env at init/reset.

Parameters:

• policy_ctrl (ndarray)

• joint_pos (ndarray)

• joint_vel (ndarray)

• leg_kp (ndarray)

• leg_kd (ndarray)

• wheel_kd (ndarray)

• ctrl_lower (ndarray)

• ctrl_upper (ndarray)

• out (ndarray)

Return type:

ndarray

class unilab.envs.locomotion.go2w.base.Go2WBaseEnv

Bases: LocomotionBaseEnv

Parameters:

• cfg (LocomotionBaseCfg)

• backend (SimBackend)

• num_envs (int)

get_dof_pos()

Return type:

ndarray

get_dof_vel()

Return type:

ndarray