unilab.tasks.locomotion.go2.tensor_parity.Go2ParityRuntime

class unilab.tasks.locomotion.go2.tensor_parity.Go2ParityRuntime[source]

Bases: object

Exercise the canonical Go2 equations through public backend tensor APIs.

Parameters:

Methods

__init__(backend, *, command, reset_qpos, ...)

reset([reset_mask])

step(actions[, nsteps])

__init__(backend, *, command, reset_qpos, reset_qvel, device='cpu', cfg=Go2ParityConfig(action_scale=0.25, ctrl_dt=0.02, max_episode_steps=1000, gait_frequency=2.0, tracking_lin_vel_std=0.5, tracking_ang_vel_std=0.5, base_height_target=0.3, foot_target_height=0.1, foot_height_kernel=0.01, swing_start=0.6, contact_threshold=0.1, stance_threshold=0.6, bad_orientation_limit=1.0471975511965976, tracking_lin_vel_weight=1.0, tracking_ang_vel_weight=0.2, lin_vel_z_weight=-5.0, ang_vel_xy_weight=-0.1, base_height_weight=-100.0, action_rate_weight=-0.005, joint_deviation_weight=-0.1, contact_weight=0.24, swing_feet_weight=4.0))[source]
Parameters:
reset(reset_mask=None)[source]
Parameters:

reset_mask (Tensor | None)

Return type:

dict[str, Tensor]

step(actions, nsteps=2)[source]
Parameters:
Return type:

Go2ParityState