unilab.tasks.locomotion.common

Shared task-specific locomotion components.

class unilab.tasks.locomotion.common.HeightScanConfig[source]

Bases: object

HeightScanConfig(enabled: ‘bool’ = True, hfield_name: ‘str’ = ‘terrain_hfield’, geom_name: ‘str’ = ‘floor’, measured_points_x: ‘list[float]’ = <factory>, measured_points_y: ‘list[float]’ = <factory>, vertical_offset: ‘float’ = 0.5, scale: ‘float’ = 5.0)

Parameters:
enabled: bool = True
hfield_name: str = 'terrain_hfield'
geom_name: str = 'floor'
measured_points_x: list[float]
measured_points_y: list[float]
vertical_offset: float = 0.5
scale: float = 5.0
__init__(enabled=True, hfield_name='terrain_hfield', geom_name='floor', measured_points_x=<factory>, measured_points_y=<factory>, vertical_offset=0.5, scale=5.0)
Parameters:

Modules

gait_terms

mjlab-aligned gait-quality terms shared by locomotion families.

height_scan

Shared height-scan and terrain-bound helpers for rough locomotion tasks.

manager_terms

Shared Manager-Based terms and term bases for the locomotion families.

rough_manager_terms

Manager-Based terrain terms shared by the production rough quadrupeds.

sensor_reward_terms

Sensor-driven reward terms shared by Manager-Based locomotion families.

terrain_spawn

Spawn-origin managers for locomotion tasks.