Source code for embodichain_tasks.locomotion.velocity.g1_flat

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"""Unitree G1 flat-ground velocity task."""

from __future__ import annotations

import torch

from embodichain.lab.gym.utils.registration import register_env

from ._embodichain import EmbodiChainVelocityEnv
from .contracts._reward_terms import corrupt_actor_observation
from .contracts.g1.config import load_config
from .contracts.g1.mdp import (
    G1State,
    build_observations,
    compute_rewards,
    compute_termination,
)

__all__ = ["UnitreeG1FlatEnv"]

_CONFIG = load_config()




@register_env(
    "UnitreeG1FlatRL-v1",
    max_episode_steps=_CONFIG.max_episode_steps,
    override=True,
    supports_rl=True,
)
class UnitreeG1FlatEnv(EmbodiChainVelocityEnv):
    """Track planar velocity commands with the 29-DOF G1 model."""

    velocity_task_config = _CONFIG
    state_type = G1State
    build_observations_fn = staticmethod(build_observations)
    compute_rewards_fn = staticmethod(compute_rewards)
    compute_termination_fn = staticmethod(compute_termination)
    foot_link_names = ("left_ankle_roll_link", "right_ankle_roll_link")
    foot_offsets = ((0.04, 0.0, -0.035), (0.04, 0.0, -0.035))
    orientation_link_name = "torso_link"



    @staticmethod
    def corrupt_actor_fn(
        actor: torch.Tensor, generator: torch.Generator
    ) -> torch.Tensor:
        """Apply the task-defined actor observation noise.

        Args:
            actor: Actor observation tensor to corrupt in place.
            generator: Random generator used to sample the task noise or delays.

        Returns:
            The actor observation tensor after adding the configured noise.
        """
        return corrupt_actor_observation(
            _CONFIG.data, _CONFIG.action_dim, actor, generator
        )