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unilab.envs.motion_tracking.g1.tracking.RewardConfig¶

class unilab.envs.motion_tracking.g1.tracking.RewardConfig[source]¶

Bases: object

Reward configuration for motion tracking.

Parameters:

scales (dict[str, float])
std_root_pos (float)
std_root_ori (float)
std_body_pos (float)
std_body_ori (float)
std_body_lin_vel (float)
std_body_ang_vel (float)
std_joint_pos (float)
std_joint_vel (float)

Methods

__init__([scales, std_root_pos, ...])

Attributes

`std_body_ang_vel`
`std_body_lin_vel`
`std_body_ori`
`std_body_pos`
`std_joint_pos`
`std_joint_vel`
`std_root_ori`
`std_root_pos`
`scales`

scales: dict[str, float]¶

std_root_pos: float = 0.3¶

std_root_ori: float = 0.4¶

std_body_pos: float = 0.3¶

std_body_ori: float = 0.4¶

std_body_lin_vel: float = 1.0¶

std_body_ang_vel: float = 3.14¶

std_joint_pos: float = 0.2¶

std_joint_vel: float = 1.0¶

__init__(scales=<factory>, std_root_pos=0.3, std_root_ori=0.4, std_body_pos=0.3, std_body_ori=0.4, std_body_lin_vel=1.0, std_body_ang_vel=3.14, std_joint_pos=0.2, std_joint_vel=1.0)¶

Parameters:

scales (dict[str, float])
std_root_pos (float)
std_root_ori (float)
std_body_pos (float)
std_body_ori (float)
std_body_lin_vel (float)
std_body_ang_vel (float)
std_joint_pos (float)
std_joint_vel (float)