unilab.envs.motion_tracking.g1.flip_tracking

Flip-specialized G1 motion tracking environment.

This keeps the generic G1MotionTracking defaults backward-compatible while providing a dedicated registry task for flip-focused datasets/profiles.

Classes

G1ClimbTrackingCfg

Config profile for the climb_20_z_scale_1 motion clip.

G1ClimbTrackingEnv

G1 climb-tracking environment implementation.

G1ClimbTrackingEnvCfg

Registered configuration for G1 box-climb motion tracking.

G1FlipTrackingCfg

Config profile for flip tracking clips.

G1FlipTrackingEnv

G1 flip-tracking environment implementation.

G1FlipTrackingEnvCfg

Registered configuration for G1 flip tracking.

G1WallFlipTrackingCfg

Config profile for wall-assisted G1 flip tracking clips.

G1WallFlipTrackingEnv

G1 wall flip-tracking environment implementation.

G1WallFlipTrackingEnvCfg

Registered configuration for G1 wall flip tracking.
class unilab.envs.motion_tracking.g1.flip_tracking.G1FlipTrackingCfg[source]

Bases: G1MotionTrackingCfg

Config profile for flip tracking clips.

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

motion_file: str | list[str] = '/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/flip_360_001__A304.npz'
pose_randomization: PoseRandomization
velocity_randomization: VelocityRandomization
joint_position_range: tuple[float, float] = (0.0, 0.0)
sampling_mode: Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'] = 'start'
terminate_on_undesired_contacts: bool = True
anchor_ori_threshold: float = 1000000000.0
__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=10.0, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>, asset=<factory>, motion_file='/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/flip_360_001__A304.npz', anchor_body_name='torso_link', body_names=('pelvis', 'left_hip_roll_link', 'left_knee_link', 'left_ankle_roll_link', 'right_hip_roll_link', 'right_knee_link', 'right_ankle_roll_link', 'torso_link', 'left_shoulder_roll_link', 'left_elbow_link', 'left_wrist_yaw_link', 'right_shoulder_roll_link', 'right_elbow_link', 'right_wrist_yaw_link'), sampling_mode='start', sampling_start_ratio=0.0, truncate_on_clip_end=False, reward_config=<factory>, pose_randomization=<factory>, velocity_randomization=<factory>, domain_rand=<factory>, joint_position_range=(0.0, 0.0), anchor_pos_z_threshold=0.25, anchor_ori_threshold=1000000000.0, ee_body_pos_z_threshold=0.25, ee_body_names=('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link'), undesired_contact_z_threshold=0.05, terminate_on_undesired_contacts=True)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

class unilab.envs.motion_tracking.g1.flip_tracking.G1FlipTrackingEnvCfg[source]

Bases: G1FlipTrackingCfg

Registered configuration for G1 flip tracking.

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=10.0, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>, asset=<factory>, motion_file='/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/flip_360_001__A304.npz', anchor_body_name='torso_link', body_names=('pelvis', 'left_hip_roll_link', 'left_knee_link', 'left_ankle_roll_link', 'right_hip_roll_link', 'right_knee_link', 'right_ankle_roll_link', 'torso_link', 'left_shoulder_roll_link', 'left_elbow_link', 'left_wrist_yaw_link', 'right_shoulder_roll_link', 'right_elbow_link', 'right_wrist_yaw_link'), sampling_mode='start', sampling_start_ratio=0.0, truncate_on_clip_end=False, reward_config=<factory>, pose_randomization=<factory>, velocity_randomization=<factory>, domain_rand=<factory>, joint_position_range=(0.0, 0.0), anchor_pos_z_threshold=0.25, anchor_ori_threshold=1000000000.0, ee_body_pos_z_threshold=0.25, ee_body_names=('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link'), undesired_contact_z_threshold=0.05, terminate_on_undesired_contacts=True)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

class unilab.envs.motion_tracking.g1.flip_tracking.G1FlipTrackingEnv[source]

Bases: G1MotionTrackingEnv

G1 flip-tracking environment implementation.

Parameters:

cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.flip_tracking.G1WallFlipTrackingCfg[source]

Bases: G1FlipTrackingCfg

Config profile for wall-assisted G1 flip tracking clips.

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

motion_file: str | list[str] = '/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/flip_from_wall_104__A304.npz'
sampling_mode: Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'] = 'adaptive'
anchor_pos_z_threshold: float = 0.5
ee_body_pos_z_threshold: float = 0.5
__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=10.0, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>, asset=<factory>, motion_file='/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/flip_from_wall_104__A304.npz', anchor_body_name='torso_link', body_names=('pelvis', 'left_hip_roll_link', 'left_knee_link', 'left_ankle_roll_link', 'right_hip_roll_link', 'right_knee_link', 'right_ankle_roll_link', 'torso_link', 'left_shoulder_roll_link', 'left_elbow_link', 'left_wrist_yaw_link', 'right_shoulder_roll_link', 'right_elbow_link', 'right_wrist_yaw_link'), sampling_mode='adaptive', sampling_start_ratio=0.0, truncate_on_clip_end=False, reward_config=<factory>, pose_randomization=<factory>, velocity_randomization=<factory>, domain_rand=<factory>, joint_position_range=(0.0, 0.0), anchor_pos_z_threshold=0.5, anchor_ori_threshold=1000000000.0, ee_body_pos_z_threshold=0.5, ee_body_names=('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link'), undesired_contact_z_threshold=0.05, terminate_on_undesired_contacts=True)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

class unilab.envs.motion_tracking.g1.flip_tracking.G1WallFlipTrackingEnvCfg[source]

Bases: G1WallFlipTrackingCfg

Registered configuration for G1 wall flip tracking.

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=10.0, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>, asset=<factory>, motion_file='/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/flip_from_wall_104__A304.npz', anchor_body_name='torso_link', body_names=('pelvis', 'left_hip_roll_link', 'left_knee_link', 'left_ankle_roll_link', 'right_hip_roll_link', 'right_knee_link', 'right_ankle_roll_link', 'torso_link', 'left_shoulder_roll_link', 'left_elbow_link', 'left_wrist_yaw_link', 'right_shoulder_roll_link', 'right_elbow_link', 'right_wrist_yaw_link'), sampling_mode='adaptive', sampling_start_ratio=0.0, truncate_on_clip_end=False, reward_config=<factory>, pose_randomization=<factory>, velocity_randomization=<factory>, domain_rand=<factory>, joint_position_range=(0.0, 0.0), anchor_pos_z_threshold=0.5, anchor_ori_threshold=1000000000.0, ee_body_pos_z_threshold=0.5, ee_body_names=('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link'), undesired_contact_z_threshold=0.05, terminate_on_undesired_contacts=True)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

class unilab.envs.motion_tracking.g1.flip_tracking.G1WallFlipTrackingEnv[source]

Bases: G1MotionTrackingEnv

G1 wall flip-tracking environment implementation.

Parameters:

cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.flip_tracking.G1ClimbTrackingCfg[source]

Bases: G1MotionTrackingCfg

Config profile for the climb_20_z_scale_1 motion clip.

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

motion_file: str | list[str] = '/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/climb_20_z_scale_1.0.npz'
max_episode_seconds: float = 15.0
anchor_pos_z_threshold: float = 0.5
ee_body_pos_z_threshold: float = 0.5
__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=15.0, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>, asset=<factory>, motion_file='/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/climb_20_z_scale_1.0.npz', anchor_body_name='torso_link', body_names=('pelvis', 'left_hip_roll_link', 'left_knee_link', 'left_ankle_roll_link', 'right_hip_roll_link', 'right_knee_link', 'right_ankle_roll_link', 'torso_link', 'left_shoulder_roll_link', 'left_elbow_link', 'left_wrist_yaw_link', 'right_shoulder_roll_link', 'right_elbow_link', 'right_wrist_yaw_link'), sampling_mode='adaptive', sampling_start_ratio=0.0, truncate_on_clip_end=False, reward_config=<factory>, pose_randomization=<factory>, velocity_randomization=<factory>, domain_rand=<factory>, joint_position_range=(-0.1, 0.1), anchor_pos_z_threshold=0.5, anchor_ori_threshold=0.8, ee_body_pos_z_threshold=0.5, ee_body_names=('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link'), undesired_contact_z_threshold=0.05, terminate_on_undesired_contacts=False)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

class unilab.envs.motion_tracking.g1.flip_tracking.G1ClimbTrackingEnvCfg[source]

Bases: G1ClimbTrackingCfg

Registered configuration for G1 box-climb motion tracking.

Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

__init__(scene=<factory>, sim_dt=0.006666666666666667, max_episode_seconds=15.0, ctrl_dt=0.02, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False, control_config=<factory>, noise_config=<factory>, sensor=<factory>, asset=<factory>, motion_file='/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/climb_20_z_scale_1.0.npz', anchor_body_name='torso_link', body_names=('pelvis', 'left_hip_roll_link', 'left_knee_link', 'left_ankle_roll_link', 'right_hip_roll_link', 'right_knee_link', 'right_ankle_roll_link', 'torso_link', 'left_shoulder_roll_link', 'left_elbow_link', 'left_wrist_yaw_link', 'right_shoulder_roll_link', 'right_elbow_link', 'right_wrist_yaw_link'), sampling_mode='adaptive', sampling_start_ratio=0.0, truncate_on_clip_end=False, reward_config=<factory>, pose_randomization=<factory>, velocity_randomization=<factory>, domain_rand=<factory>, joint_position_range=(-0.1, 0.1), anchor_pos_z_threshold=0.5, anchor_ori_threshold=0.8, ee_body_pos_z_threshold=0.5, ee_body_names=('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link'), undesired_contact_z_threshold=0.05, terminate_on_undesired_contacts=False)
Parameters:

  • scene (SceneCfg)

  • sim_dt (float)

  • max_episode_seconds (float)

  • ctrl_dt (float)

  • render_spacing (float)

  • render_offset_mode (str)

  • motrix_max_iterations (Optional[int])

  • post_step_forward_sensor (bool)

  • control_config (ControlConfig)

  • noise_config (NoiseConfig)

  • sensor (Sensor)

  • asset (Asset)

  • motion_file (str | list[str])

  • anchor_body_name (str)

  • body_names (tuple[str, …])

  • sampling_mode (Literal[‘start’, ‘clip_start’, ‘uniform’, ‘adaptive’, ‘mixed’])

  • sampling_start_ratio (float)

  • truncate_on_clip_end (bool)

  • reward_config (RewardConfig)

  • pose_randomization (PoseRandomization)

  • velocity_randomization (VelocityRandomization)

  • domain_rand (Domain_Rand)

  • joint_position_range (tuple[float, float])

  • anchor_pos_z_threshold (float)

  • anchor_ori_threshold (float)

  • ee_body_pos_z_threshold (float)

  • ee_body_names (tuple[str, …])

  • undesired_contact_z_threshold (float)

  • terminate_on_undesired_contacts (bool)

class unilab.envs.motion_tracking.g1.flip_tracking.G1ClimbTrackingEnv[source]

Bases: G1MotionTrackingEnv

G1 climb-tracking environment implementation.

Parameters:

cfg (G1MotionTrackingCfg)