Language

unilab.envs.manipulation.allegro_inhand.base¶

Classes

`AllegroBaseCfg`	AllegroBaseCfg(scene: unilab.base.scene.SceneCfg \| None = None, sim_dt: 'float' = 0.005, max_episode_seconds: Optional[float] = None, ctrl_dt: 'float' = 0.05, render_spacing: float = 1.0, render_offset_mode: str = 'grid', motrix_max_iterations: Optional[int] = None, post_step_forward_sensor: bool = False, noise_config: 'NoiseConfig' = <factory>, control_config: 'ControlConfig' = <factory>)
`AllegroBaseEnv`
`AllegroBaseMjEnv`	alias of `AllegroBaseEnv`
`ControlConfig`	ControlConfig(action_scale: 'float' = 0.041666666666666664, kp: 'float' = 1.0, kd: 'float' = 0.1)
`NoiseConfig`	NoiseConfig(level: 'float' = 1.0, scale_joint_angle: 'float' = 0.02)

class unilab.envs.manipulation.allegro_inhand.base.NoiseConfig[source]¶

Bases: object

NoiseConfig(level: ‘float’ = 1.0, scale_joint_angle: ‘float’ = 0.02)

Parameters:

level (float)
scale_joint_angle (float)

level: float = 1.0¶

scale_joint_angle: float = 0.02¶

__init__(level=1.0, scale_joint_angle=0.02)¶

Parameters:

level (float)
scale_joint_angle (float)

class unilab.envs.manipulation.allegro_inhand.base.ControlConfig[source]¶

Bases: object

ControlConfig(action_scale: ‘float’ = 0.041666666666666664, kp: ‘float’ = 1.0, kd: ‘float’ = 0.1)

Parameters:

action_scale (float)
kp (float)
kd (float)

action_scale: float = 0.041666666666666664¶

kp: float = 1.0¶

kd: float = 0.1¶

__init__(action_scale=0.041666666666666664, kp=1.0, kd=0.1)¶

Parameters:

action_scale (float)
kp (float)
kd (float)

class unilab.envs.manipulation.allegro_inhand.base.AllegroBaseCfg[source]¶

Bases: EnvCfg

AllegroBaseCfg(scene: unilab.base.scene.SceneCfg | None = None, sim_dt: ‘float’ = 0.005, max_episode_seconds: Optional[float] = None, ctrl_dt: ‘float’ = 0.05, render_spacing: float = 1.0, render_offset_mode: str = ‘grid’, motrix_max_iterations: Optional[int] = None, post_step_forward_sensor: bool = False, noise_config: ‘NoiseConfig’ = <factory>, control_config: ‘ControlConfig’ = <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)
noise_config (NoiseConfig)
control_config (ControlConfig)

sim_dt: float = 0.005¶

ctrl_dt: float = 0.05¶

noise_config: NoiseConfig¶

control_config: ControlConfig¶

__init__(scene=None, sim_dt=0.005, max_episode_seconds=None, ctrl_dt=0.05, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, noise_config=<factory>, control_config=<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)
noise_config (NoiseConfig)
control_config (ControlConfig)

class unilab.envs.manipulation.allegro_inhand.base.AllegroBaseEnv[source]¶

Bases: NpEnv

Parameters:

cfg (AllegroBaseCfg)
backend (SimBackend)
num_envs (int)

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

Parameters:

cfg (AllegroBaseCfg)
backend (SimBackend)
num_envs (int)

property action_space: Box¶: Action space

apply_action(actions, state)[source]¶

子类实现：action → ctrl

Parameters:

actions (ndarray)
state (NpEnvState)

Return type:

ndarray

get_hand_dof_pos()[source]¶

Return type:: ndarray

get_hand_dof_vel()[source]¶

Return type:: ndarray

get_ball_pos()[source]¶

Return type:: ndarray

get_ball_quat()[source]¶

Return type:: ndarray

get_ball_linvel()[source]¶

Return type:: ndarray

get_ball_angvel()[source]¶

Return type:: ndarray

get_fingertip_pos()[source]¶

Return type:: ndarray

get_sensor_data(name)[source]¶

Parameters:: name (str)
Return type:: ndarray

unilab.envs.manipulation.allegro_inhand.base.AllegroBaseMjEnv¶: alias of AllegroBaseEnv