unilab.envs.manipulation.sharpa_inhand.rotation.SharpaInhandRotationCfg

class unilab.envs.manipulation.sharpa_inhand.rotation.SharpaInhandRotationCfg[source]

Bases: SharpaInhandBaseCfg

SharpaInhandRotationCfg(scene: ‘SceneCfg’ = <factory>, sim_dt: ‘float’ = 0.004166666666666667, max_episode_seconds: ‘float’ = 20.0, 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, action_space: ‘int’ = 22, observation_space: ‘int’ = 192, prop_hist_len: ‘int’ = 30, critic_info_dim: ‘int’ = 9, clip_obs: ‘float’ = 5.0, clip_actions: ‘float’ = 1.0, num_hand_dofs: ‘int’ = 22, frame_obs_dim: ‘int’ = 64, obs_lag_steps: ‘int’ = 3, obs_history_len: ‘int’ = 80, base_name: ‘str’ = ‘right_hand_C_MC’, object_body_name: ‘str’ = ‘object’, object_geom_name: ‘str’ = ‘object’, actuated_joint_names: ‘list[str]’ = <factory>, fingertip_body_names: ‘list[str]’ = <factory>, control_config: ‘SharpaControlConfig’ = <factory>, sensor: ‘SharpaSensorConfig’ = <factory>, obs: ‘SharpaObservationConfig’ = <factory>, priv_info: ‘SharpaPrivilegedInfoConfig’ = <factory>, domain_rand: ‘SharpaDomainRandConfig’ = <factory>, reset_height_lower: ‘float’ = 0.59906, reset_height_upper: ‘float’ = 0.63906, reset_angle_diff: ‘float’ = 0.7853981633974483, rot_axis: ‘tuple[float, float, float]’ = (0.0, 0.0, 1.0), grasp_cache_path: ‘str’ = ‘/home/admin1/ws/Eric/UniLab/src/unilab/assets/caches/sharpa_grasp_linspace’, disable_tactile_ids: ‘list[int]’ = <factory>, use_default_object_pose_for_object_pos_anchor: ‘bool’ = False, debug_show_axes: ‘bool’ = False, reward_config: ‘RewardConfig | None’ = None, zero_action_test_mode: ‘bool’ = False)

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)

  • action_space (int)

  • observation_space (int)

  • prop_hist_len (int)

  • critic_info_dim (int)

  • clip_obs (float)

  • clip_actions (float)

  • num_hand_dofs (int)

  • frame_obs_dim (int)

  • obs_lag_steps (int)

  • obs_history_len (int)

  • base_name (str)

  • object_body_name (str)

  • object_geom_name (str)

  • actuated_joint_names (list[str])

  • fingertip_body_names (list[str])

  • control_config (SharpaControlConfig)

  • sensor (SharpaSensorConfig)

  • obs (SharpaObservationConfig)

  • priv_info (SharpaPrivilegedInfoConfig)

  • domain_rand (SharpaDomainRandConfig)

  • reset_height_lower (float)

  • reset_height_upper (float)

  • reset_angle_diff (float)

  • rot_axis (tuple[float, float, float])

  • grasp_cache_path (str)

  • disable_tactile_ids (list[int])

  • use_default_object_pose_for_object_pos_anchor (bool)

  • debug_show_axes (bool)

  • reward_config (RewardConfig | None)

  • zero_action_test_mode (bool)

Methods

__init__([scene, sim_dt, ...])

validate()

validate the config

Attributes

action_space

base_name

clip_actions

clip_obs

critic_info_dim

ctrl_dt

debug_show_axes

frame_obs_dim

grasp_cache_path

max_episode_seconds

max_episode_steps

return the max episode steps

motrix_max_iterations

num_hand_dofs

object_body_name

object_geom_name

obs_history_len

obs_lag_steps

observation_space

post_step_forward_sensor

prop_hist_len

render_offset_mode

render_spacing

reset_angle_diff

reset_height_lower

reset_height_upper

reward_config

rot_axis

scene

sim_dt

sim_substeps

return the number of simulation steps per control step

use_default_object_pose_for_object_pos_anchor

zero_action_test_mode

actuated_joint_names

fingertip_body_names

control_config

sensor

obs

priv_info

domain_rand

disable_tactile_ids

critic_info_dim: int = 9
reward_config: RewardConfig | None = None
zero_action_test_mode: bool = False
__init__(scene=<factory>, sim_dt=0.004166666666666667, max_episode_seconds=20.0, ctrl_dt=0.05, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, action_space=22, observation_space=192, prop_hist_len=30, critic_info_dim=9, clip_obs=5.0, clip_actions=1.0, num_hand_dofs=22, frame_obs_dim=64, obs_lag_steps=3, obs_history_len=80, base_name='right_hand_C_MC', object_body_name='object', object_geom_name='object', actuated_joint_names=<factory>, fingertip_body_names=<factory>, control_config=<factory>, sensor=<factory>, obs=<factory>, priv_info=<factory>, domain_rand=<factory>, reset_height_lower=0.59906, reset_height_upper=0.63906, reset_angle_diff=0.7853981633974483, rot_axis=(0.0, 0.0, 1.0), grasp_cache_path='/home/admin1/ws/Eric/UniLab/src/unilab/assets/caches/sharpa_grasp_linspace', disable_tactile_ids=<factory>, use_default_object_pose_for_object_pos_anchor=False, debug_show_axes=False, reward_config=None, zero_action_test_mode=False)
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)

  • action_space (int)

  • observation_space (int)

  • prop_hist_len (int)

  • critic_info_dim (int)

  • clip_obs (float)

  • clip_actions (float)

  • num_hand_dofs (int)

  • frame_obs_dim (int)

  • obs_lag_steps (int)

  • obs_history_len (int)

  • base_name (str)

  • object_body_name (str)

  • object_geom_name (str)

  • actuated_joint_names (list[str])

  • fingertip_body_names (list[str])

  • control_config (SharpaControlConfig)

  • sensor (SharpaSensorConfig)

  • obs (SharpaObservationConfig)

  • priv_info (SharpaPrivilegedInfoConfig)

  • domain_rand (SharpaDomainRandConfig)

  • reset_height_lower (float)

  • reset_height_upper (float)

  • reset_angle_diff (float)

  • rot_axis (tuple[float, float, float])

  • grasp_cache_path (str)

  • disable_tactile_ids (list[int])

  • use_default_object_pose_for_object_pos_anchor (bool)

  • debug_show_axes (bool)

  • reward_config (RewardConfig | None)

  • zero_action_test_mode (bool)

action_space: int = 22
base_name: str = 'right_hand_C_MC'
clip_actions: float = 1.0
clip_obs: float = 5.0
ctrl_dt: float = 0.05
debug_show_axes: bool = False
frame_obs_dim: int = 64
grasp_cache_path: str = '/home/admin1/ws/Eric/UniLab/src/unilab/assets/caches/sharpa_grasp_linspace'
max_episode_seconds: float = 20.0
property max_episode_steps: int | None

return the max episode steps

motrix_max_iterations: Optional[int] = None
num_hand_dofs: int = 22
object_body_name: str = 'object'
object_geom_name: str = 'object'
obs_history_len: int = 80
obs_lag_steps: int = 3
observation_space: int = 192
post_step_forward_sensor: bool = False
prop_hist_len: int = 30
render_offset_mode: str = 'grid'
render_spacing: float = 1.0
reset_angle_diff: float = 0.7853981633974483
reset_height_lower: float = 0.59906
reset_height_upper: float = 0.63906
rot_axis: tuple[float, float, float] = (0.0, 0.0, 1.0)
scene: SceneCfg = None
sim_dt: float = 0.004166666666666667
property sim_substeps: int

return the number of simulation steps per control step

use_default_object_pose_for_object_pos_anchor: bool = False
validate()

validate the config

actuated_joint_names: list[str]
fingertip_body_names: list[str]
control_config: SharpaControlConfig
sensor: SharpaSensorConfig
obs: SharpaObservationConfig
priv_info: SharpaPrivilegedInfoConfig
domain_rand: SharpaDomainRandConfig
disable_tactile_ids: list[int]