reference/generated/torchrl.envs.MenagerieTask

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MenagerieTask

class torchrl.envs.MenagerieTask(keyframe: str | None = None, site_names: Sequence[str] = (), terminate_below_height: float | None = None, pose_weight: float = 0.0, pose_std: float = 0.5, control_cost_weight: float = 0.0, alive_bonus: float = 0.0)

Task parameters of MenagerieEnv.

Menagerie ships robots, not tasks, so the defaults describe the bare simulator: reset around the model’s home keyframe, observe the state, never terminate before the horizon and pay no reward. Non-zero weights turn the built-in reward terms on; leave them at zero to let a Transform write ("next", "reward") instead. MenagerieEnv.hold_pose_task() is the preset that turns them on.

Parameters:

• keyframe (str, optional) – name of the MJCF keyframe whose qpos and qvel the reset state is drawn around. None (default) uses the home keyframe when the model defines one and the model’s qpos0 at rest otherwise; a name the model does not define raises KeyError at construction.

• site_names (Sequence[str], optional) – MuJoCo sites whose world positions are exposed as the site_positions observation, shaped (num_envs, len(site_names), 3) in this order. Empty (default) omits the entry.

• terminate_below_height (float, optional) – if set, the episode terminates once the height (world z) of the floating base drops below this value, in meters. The base is the first free joint in model order, the robot’s in Menagerie scenes that carry one; a scene whose only free joint belongs to an object (a cube on a table) would track that object instead. None (default) never terminates on height.

• pose_weight (float, optional) – weight of the pose term, exp(-mean((q - q_key)^2) / pose_std^2) over the hinge and slide joints, where q_key is the reset keyframe. 0.0 (default) turns the term off.

• pose_std (float, optional) – scale of the pose term, in the joints’ units. Defaults to 0.5.

• control_cost_weight (float, optional) – weight of the control cost, minus the mean squared action after mapping each actuator’s control range onto [-1, 1]. 0.0 (default) turns the term off.

• alive_bonus (float, optional) – constant paid at every step that does not terminate on height. Defaults to 0.0.

Examples

>>> from dataclasses import replace
>>> from torchrl.envs import MenagerieEnv, MenagerieTask
>>> task = MenagerieTask(site_names=("imu",), terminate_below_height=0.15)
>>> task.pose_weight, task.site_names
(0.0, ('imu',))
>>> standing = replace(MenagerieEnv.hold_pose_task(), alive_bonus=0.5)
>>> standing.pose_weight, standing.alive_bonus
(1.0, 0.5)
>>> env = MenagerieEnv("unitree_go2", download=True, task=standing)