unilab.tasks.locomotion.go2w.manager_terms.Go2WVelocityCommandCfg

class unilab.tasks.locomotion.go2w.manager_terms.Go2WVelocityCommandCfg[source]

Bases: UniformVelocityCommandCfg

Velocity command with the legacy Go2W planar dead zone.

Parameters:

  • resampling_time_range (tuple[float, float])

  • debug_vis (bool)

  • entity_name (str)

  • heading_command (bool)

  • heading_control_stiffness (float)

  • rel_standing_envs (float)

  • rel_heading_envs (float)

  • rel_world_envs (float)

  • rel_forward_envs (float)

  • init_velocity_prob (float)

  • ranges (Ranges)

  • viz (VizCfg)

  • planar_dead_zone (float)

Methods

__init__(*, resampling_time_range[, ...])

build(env)

Build the command term from this config.

Attributes

debug_vis

Whether to enable debug visualization for this command term.

heading_command

heading_control_stiffness

init_velocity_prob

planar_dead_zone

rel_forward_envs

rel_heading_envs

rel_standing_envs

rel_world_envs

entity_name

ranges

viz

resampling_time_range

Time range in seconds for command resampling.
planar_dead_zone: float = 0.2
build(env)[source]

Build the command term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

Go2WVelocityCommand

class Ranges

Bases: object

Ranges(lin_vel_x: ‘tuple[float, float]’, lin_vel_y: ‘tuple[float, float]’, ang_vel_z: ‘tuple[float, float]’, heading: ‘tuple[float, float] | None’ = None)

Parameters:
__init__(lin_vel_x, lin_vel_y, ang_vel_z, heading=None)
Parameters:
heading: tuple[float, float] | None = None
lin_vel_x: tuple[float, float]
lin_vel_y: tuple[float, float]
ang_vel_z: tuple[float, float]
class VizCfg

Bases: object

VizCfg(z_offset: ‘float’ = 0.2, scale: ‘float’ = 0.5)

Parameters:
__init__(z_offset=0.2, scale=0.5)
Parameters:
scale: float = 0.5
z_offset: float = 0.2
__init__(*, resampling_time_range, debug_vis=False, entity_name, heading_command=False, heading_control_stiffness=1.0, rel_standing_envs=0.0, rel_heading_envs=1.0, rel_world_envs=0.0, rel_forward_envs=0.0, init_velocity_prob=0.0, ranges, viz=<factory>, planar_dead_zone=0.2)
Parameters:

  • resampling_time_range (tuple[float, float])

  • debug_vis (bool)

  • entity_name (str)

  • heading_command (bool)

  • heading_control_stiffness (float)

  • rel_standing_envs (float)

  • rel_heading_envs (float)

  • rel_world_envs (float)

  • rel_forward_envs (float)

  • init_velocity_prob (float)

  • ranges (Ranges)

  • viz (VizCfg)

  • planar_dead_zone (float)

debug_vis: bool = False

Whether to enable debug visualization for this command term. When True, the command term’s _debug_vis_impl method is called each frame to render visual aids (e.g., velocity arrows, target markers).

heading_command: bool = False
heading_control_stiffness: float = 1.0
init_velocity_prob: float = 0.0
rel_forward_envs: float = 0.0
rel_heading_envs: float = 1.0
rel_standing_envs: float = 0.0
rel_world_envs: float = 0.0
entity_name: str
ranges: Ranges
viz: VizCfg
resampling_time_range: tuple[float, float]

Time range in seconds for command resampling. When the timer expires, a new command is sampled and the timer is reset to a value uniformly drawn from [min, max]. Set both values equal for fixed-interval resampling.