unilab.tasks.locomotion.g1¶
Hydra-owned Manager-Based G1 locomotion production registrations.
- class unilab.tasks.locomotion.g1.G1WalkManagerBasedEnv[source]¶
Bases:
ManagerBasedRlEnvManager-Based G1 walk runtime.
- Parameters:
cfg (
ManagerBasedRlEnvCfg)backend (
SimBackend)num_envs (
int)
- unilab.tasks.locomotion.g1.make_g1_walk_env(cfg, num_envs=1, backend_type='mujoco')[source]¶
Construct the Registry-owned G1 Manager-Based production runtime.
- Parameters:
cfg (
ManagerBasedRlEnvCfg)num_envs (
int)backend_type (
str)
- Return type:
Modules
Task-owned Manager-Based terms for G1 biped locomotion. |