"""bigym.loco — locomotion-in-the-loop public API (BiGym 2.0).
Layered as:
- ``bigym.loco.command`` / ``controller`` / ``base``: the backend contract
(typed commands, the thin controller protocol, the fat shared base class).
- ``bigym.loco.adapters``: the backend registry and the v1 backend —
``groot_wbc_g1`` (NVIDIA GR00T-WBC).
The GR00T-WBC runtime is vendored and runs on onnxruntime; the core
stays torch-free.
- ``bigym.loco.env``: the controller-in-the-loop environment
(gym loop + make + get_demos + specs is the stable public surface),
assembled from ``lowerbody`` (the controller in the loop),
``event_progress`` (progress label and shaping) and ``fingerprint``
(substrate identity).
- ``bigym.loco.demos``: native demo schema v1 + npz/metadata IO.
- ``bigym.loco.eval``: the frozen evaluation protocol.
- ``bigym.loco.config``: :class:`EnvConfig`, every setting an env is built
from; its defaults are the official benchmark values.
- ``bigym.loco.tasks``: the task registry (class, budget and official-config
differences per task).
Public factory::
from bigym.loco import make
env = make("move_plate") # the official configuration
env = make("move_plate", camera_keys=("head",))
Controllers and tasks from your own package: :class:`BackendBinding` with
:func:`register_backend`, and :func:`register_task`; or name the object
directly as ``"pkg.module:ATTR"``.
"""
from bigym.loco.action_representation import (
ABSOLUTE,
ACTION_REPRESENTATIONS,
UPPER_DELTA,
UpperDeltaAccumulator,
convert_episode_action_representation,
)
from bigym.loco.adapters import BackendBinding, register_backend
from bigym.loco.base import LowerBodyBase
from bigym.loco.command import (
CommandField,
CommandKind,
CommandSpec,
velocity_spec,
)
from bigym.loco.config import ControllerConfig, EnvConfig, WholeBodyConfig
from bigym.loco.controller import LowerBodyController, OutputSpec
[docs]
def make(task_name, config=None, **overrides):
"""Create a BiGym env; with no overrides, the official configuration.
``config`` is None or an :class:`EnvConfig`; keyword ``overrides`` are
EnvConfig fields applied last. See
:func:`bigym.loco.env.make`.
"""
from bigym.loco.env import make as _make
return _make(task_name, config, **overrides)
[docs]
def make_gym(task_name, config=None, **overrides):
""":func:`make` behind the gymnasium API (see :mod:`bigym.loco.gym_adapter`)."""
from bigym.loco.gym_adapter import make_gym as _make_gym
return _make_gym(task_name, config, **overrides)
[docs]
def register_task(name, spec):
"""Register a :class:`~bigym.loco.tasks.TaskSpec` so ``make(name)`` builds it.
A name can be registered once; registering it again (a built-in task
included) raises ValueError. ``make("pkg.module:ATTR")`` builds a
TaskSpec without registering it.
"""
from bigym.loco.tasks import register_task as _register_task
_register_task(name, spec)
__all__ = [
"CommandField",
"CommandKind",
"CommandSpec",
"velocity_spec",
"LowerBodyController",
"OutputSpec",
"LowerBodyBase",
"ABSOLUTE",
"UPPER_DELTA",
"ACTION_REPRESENTATIONS",
"UpperDeltaAccumulator",
"convert_episode_action_representation",
"ControllerConfig",
"EnvConfig",
"WholeBodyConfig",
"make",
"make_gym",
"BackendBinding",
"register_backend",
"register_task",
]
