unilab.envs.motion_tracking.g1.flip_tracking_sac.G1FlipTrackingSACEnv

class unilab.envs.motion_tracking.g1.flip_tracking_sac.G1FlipTrackingSACEnv[source]

Bases: G1MotionTrackingSACEnv

Flip tracking env with the SAC asymmetric actor-critic obs layout.

The motrix backend is registered for sim2sim eval/playback only.

Parameters:

cfg (G1MotionTrackingCfg)

Methods

__init__(cfg[, num_envs, backend_type])

apply_action(actions, state)

子类实现：action → ctrl

build_symmetry_augmentation(*, device)

Return an env-owned runtime symmetry adapter when the task/backend supports it.

capture_play_video_frame()

Capture one detached RGB video frame through the env contract.

close()

关闭环境

get_dof_pos()

get_dof_vel()

get_gyro()

get_local_linvel()

get_physics_state_snapshot()

Return a detached physics snapshot for offline playback/video export.

get_playback_model([env_index])

Return the backend playback model for one env in a vectorized batch.

init_play_renderer([render_spacing, ...])

Initialize backend-native playback rendering when available.

init_state()

Initialize environment and return initial state

render_play_frame()

Render one interactive playback frame through the env contract.

reset(env_indices)

resolve_play_render_plan(*, ...)

Resolve high-level playback mode through the concrete backend.

run_playback(*, initialize, step, num_steps)

Execute playback through the concrete backend.

run_playback_mode(*, play_render_mode, ...)

Resolve configured playback mode and execute it through the backend contract.

set_autoreset(enabled)

Toggle automatic reset of done envs at the end of step.

set_nan_guard(guard)

step(actions)

Step the environment with given actions, return new state

update_state(state)

子类实现：计算 obs/reward/terminated

Attributes

action_space

Action space

cfg

The configuration of the environment

num_envs

return the size of the env if it is vectorized

obs_groups_spec

101}.

observation_space

Observation space

play_capabilities

Return env-facing play/render capabilities.

state

Current environment state (None before first reset)
__init__(cfg, num_envs=1, backend_type='mujoco')
Parameters:

cfg (G1MotionTrackingCfg)

property action_space: Box

Action space

apply_action(actions, state)

子类实现：action → ctrl

Parameters:
Return type:

ndarray

build_symmetry_augmentation(*, device)

Return an env-owned runtime symmetry adapter when the task/backend supports it.

Parameters:

device (str)

Return type:

SymmetryAugmentation | None

capture_play_video_frame()

Capture one detached RGB video frame through the env contract.

Return type:

ndarray

property cfg: EnvCfg

The configuration of the environment

close()

关闭环境

Return type:

None

get_dof_pos()
Return type:

ndarray

get_dof_vel()
Return type:

ndarray

get_gyro()
Return type:

ndarray

get_local_linvel()
Return type:

ndarray

get_physics_state_snapshot()

Return a detached physics snapshot for offline playback/video export.

Return type:

ndarray

get_playback_model(env_index=None)

Return the backend playback model for one env in a vectorized batch.

Parameters:

env_index (int | None) – Optional vectorized environment index.

Return type:

Any

Returns:

The backend-specific playback model.

init_play_renderer(render_spacing=None, render_offset_mode=None, *, headless=False, capture=False, width=1280, height=720, camera_kwargs=None)

Initialize backend-native playback rendering when available.

Parameters:
Return type:

None

init_state()

Initialize environment and return initial state

Return type:

NpEnvState

property num_envs: int

return the size of the env if it is vectorized

property obs_groups_spec: dict[str, int]

101}.

Subclasses MUST override this property.

Type:

Return observation group dimensions, e.g. {“obs”

Type:

98, “critic”

property observation_space: Space

Observation space

property play_capabilities: EnvPlayCapabilities

Return env-facing play/render capabilities.

render_play_frame()

Render one interactive playback frame through the env contract.

Return type:

None

reset(env_indices)
Parameters:

env_indices (ndarray)

Return type:

Tuple[dict[str, ndarray], dict]

resolve_play_render_plan(*, play_render_mode, play_steps, output_video)

Resolve high-level playback mode through the concrete backend.

Parameters:
Return type:

BackendPlayRenderPlan

run_playback(*, initialize, step, num_steps, output_video=None, render_spacing=None, render_offset_mode=None, headless=None, record_video=None, frame_state_getter=None, camera_kwargs=None, extra_data_getter=None)

Execute playback through the concrete backend.

Parameters:
Return type:

str | None

run_playback_mode(*, play_render_mode, play_steps, output_video, initialize, step, render_spacing=None, render_offset_mode=None, frame_state_getter=None, camera_kwargs=None, extra_data_getter=None, on_plan=None)

Resolve configured playback mode and execute it through the backend contract.

Parameters:
Return type:

str | None

set_autoreset(enabled)

Toggle automatic reset of done envs at the end of step.

Defaults to True (standard RL autoreset). Interactive playback can disable it so a terminated robot stays put until a manual reset.

Parameters:

enabled (bool)

Return type:

None

set_nan_guard(guard)
Parameters:

guard (NanGuard)

Return type:

None

property state: NpEnvState | None

Current environment state (None before first reset)

step(actions)

Step the environment with given actions, return new state

Parameters:

actions (ndarray)

Return type:

NpEnvState

update_state(state)

子类实现：计算 obs/reward/terminated

Parameters:

state (NpEnvState)

Return type:

NpEnvState