Language

unilab.envs.motion_tracking.g1¶

Motion tracking environments for Unitree G1.

class unilab.envs.motion_tracking.g1.G1MotionTrackingCfg[source]¶

Bases: G1BaseCfg

Configuration for G1 motion tracking environment.

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/dance1_subject2_part.npz'¶

anchor_body_name: str = 'torso_link'¶

body_names: tuple[str, ...] = ('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: Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'] = 'adaptive'¶

sampling_start_ratio: float = 0.0¶

truncate_on_clip_end: bool = False¶

max_episode_seconds: float = 10.0¶

reward_config: RewardConfig¶

pose_randomization: PoseRandomization¶

velocity_randomization: VelocityRandomization¶

domain_rand: Domain_Rand¶

joint_position_range: tuple[float, float] = (-0.1, 0.1)¶

anchor_pos_z_threshold: float = 0.25¶

anchor_ori_threshold: float = 0.8¶

ee_body_pos_z_threshold: float = 0.25¶

ee_body_names: tuple[str, ...] = ('left_ankle_roll_link', 'right_ankle_roll_link', 'left_wrist_yaw_link', 'right_wrist_yaw_link')¶

undesired_contact_z_threshold: float = 0.05¶

terminate_on_undesired_contacts: bool = False¶

__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/dance1_subject2_part.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=0.25, anchor_ori_threshold=0.8, 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=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)

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

class unilab.envs.motion_tracking.g1.G1MotionTrackingDeployEnv[source]¶

Bases: G1MotionTrackingEnv

Deploy-oriented G1 motion tracking env with unitree_rl_lab mimic actor inputs.

Parameters:: cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.G1MotionTrackingDeployEnvCfg[source]¶

Bases: G1MotionTrackingCfg

Registered deploy configuration for G1 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)

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.G1MotionTrackingEnv[source]¶

Bases: G1BaseEnv

G1 Motion Tracking Environment.

Parameters:: cfg (G1MotionTrackingCfg)

__init__(cfg, num_envs=1, backend_type='mujoco')[source]¶

Parameters:: cfg (G1MotionTrackingCfg)

apply_action(actions, state)[source]¶

子类实现：action → ctrl

Parameters:

actions (ndarray)
state (NpEnvState)

Return type:

ndarray

property obs_groups_spec: dict[str, int]¶

101}.

Subclasses MUST override this property.

Type:: Return observation group dimensions, e.g. {“obs”
Type:: 98, “critic”

update_state(state)[source]¶

子类实现：计算 obs/reward/terminated

Parameters:: state (NpEnvState)
Return type:: NpEnvState

class unilab.envs.motion_tracking.g1.G1MotionTrackingEnvCfg[source]¶

Bases: G1MotionTrackingCfg

Registered configuration for G1 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)

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.G1MotionTrackingSACCfg[source]¶

Bases: G1MotionTrackingCfg

Config for SAC-based motion tracking (identical fields, separate registry entry).

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)

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.G1MotionTrackingSACEnv[source]¶

Bases: G1MotionTrackingEnv

G1 Motion Tracking environment for FastSAC training.

Extends the PPO motion-tracking environment with base_lin_vel appended to the critic observation, matching holosoma’s asymmetric actor-critic WBT design.

The motrix backend is registered for sim2sim eval/playback only — checkpoints trained on mujoco can be replayed via motrix’s native renderer through eval --sim motrix.

Parameters:: cfg (G1MotionTrackingCfg)

property obs_groups_spec: dict[str, int]¶

101}.

Subclasses MUST override this property.

Type:: Return observation group dimensions, e.g. {“obs”
Type:: 98, “critic”

class unilab.envs.motion_tracking.g1.G1WBTObsCfg[source]¶

Bases: G1MotionTrackingSACCfg

SAC whole-body tracking with sim2real obs / DR / reward extensions.

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 (ObsNoiseConfig)
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 (ObsDomainRand)
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)

noise_config: ObsNoiseConfig¶

domain_rand: ObsDomainRand¶

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 (ObsNoiseConfig)
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 (ObsDomainRand)
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)

reward_config: RewardConfig¶

pose_randomization: PoseRandomization¶

velocity_randomization: VelocityRandomization¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

class unilab.envs.motion_tracking.g1.G1WBTObsEnv[source]¶

Bases: G1MotionTrackingSACEnv

SAC WBT with deploy-aligned obs, proprio history, and extra DR/rewards.

All extensions live in this subclass — base classes are untouched. Flags on G1WBTObsCfg are toggled from the task yaml.

Parameters:

cfg (G1WBTObsCfg)
num_envs (int)
backend_type (str)

__init__(cfg, num_envs=1, backend_type='mujoco')[source]¶

Parameters:

cfg (G1WBTObsCfg)
num_envs (int)
backend_type (str)

class unilab.envs.motion_tracking.g1.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)

reward_config: RewardConfig¶

domain_rand: Domain_Rand¶

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

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

Bases: G1MotionTrackingEnv

G1 flip-tracking environment implementation.

Parameters:: cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.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.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)

pose_randomization: PoseRandomization¶

velocity_randomization: VelocityRandomization¶

reward_config: RewardConfig¶

domain_rand: Domain_Rand¶

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

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

Bases: G1MotionTrackingEnv

G1 wall flip-tracking environment implementation.

Parameters:: cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.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.G1FlipTrackingSACCfg[source]¶

Bases: G1FlipTrackingCfg

Flip tracking cfg for SAC (identical fields, separate registry entry).

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.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)

class unilab.envs.motion_tracking.g1.G1WallFlipTrackingSACCfg[source]¶

Bases: G1WallFlipTrackingCfg

Wall-flip tracking cfg for SAC (identical fields, separate registry entry).

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.G1WallFlipTrackingSACEnv[source]¶

Bases: G1MotionTrackingSACEnv

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

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

Parameters:: cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.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)

reward_config: RewardConfig¶

pose_randomization: PoseRandomization¶

velocity_randomization: VelocityRandomization¶

domain_rand: Domain_Rand¶

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

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

Bases: G1MotionTrackingEnv

G1 climb-tracking environment implementation.

Parameters:: cfg (G1MotionTrackingCfg)

class unilab.envs.motion_tracking.g1.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)

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.G1BoxTrackingCfg[source]¶

Bases: G1MotionTrackingCfg

Configuration for the G1 large-box tracking task.

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 (BoxRewardConfig)
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)
object_body_name (str)
object_pos_threshold (float)
object_ori_threshold (float)

motion_file: str | list[str] = '/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/sub3_largebox_003_boxconverted.npz'¶

object_body_name: str = 'largebox'¶

object_pos_threshold: float = 0.25¶

object_ori_threshold: float = 0.8¶

reward_config: BoxRewardConfig¶

__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/sub3_largebox_003_boxconverted.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=0.25, anchor_ori_threshold=0.8, 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=False, object_body_name='largebox', object_pos_threshold=0.25, object_ori_threshold=0.8)¶

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 (BoxRewardConfig)
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)
object_body_name (str)
object_pos_threshold (float)
object_ori_threshold (float)

pose_randomization: PoseRandomization¶

velocity_randomization: VelocityRandomization¶

domain_rand: Domain_Rand¶

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶

class unilab.envs.motion_tracking.g1.G1BoxTrackingEnv[source]¶

Bases: G1MotionTrackingEnv

Motion tracking env extended with large-box state and rewards.

Parameters:: cfg (G1BoxTrackingCfg)

__init__(cfg, num_envs=1, backend_type='mujoco')[source]¶

Parameters:: cfg (G1BoxTrackingCfg)

get_dof_pos()[source]¶

Return type:: ndarray

get_dof_vel()[source]¶

Return type:: ndarray

property obs_groups_spec: dict[str, int]¶

101}.

Subclasses MUST override this property.

Type:: Return observation group dimensions, e.g. {“obs”
Type:: 98, “critic”

class unilab.envs.motion_tracking.g1.G1BoxTrackingEnvCfg[source]¶

Bases: G1BoxTrackingCfg

Registered config for G1 box 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 (BoxRewardConfig)
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)
object_body_name (str)
object_pos_threshold (float)
object_ori_threshold (float)

__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/sub3_largebox_003_boxconverted.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=0.25, anchor_ori_threshold=0.8, 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=False, object_body_name='largebox', object_pos_threshold=0.25, object_ori_threshold=0.8)¶

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 (BoxRewardConfig)
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)
object_body_name (str)
object_pos_threshold (float)
object_ori_threshold (float)

class unilab.envs.motion_tracking.g1.BoxMotionData[source]¶

Bases: MotionData

Motion data with optional object state.

Parameters:

joint_pos (ndarray)
joint_vel (ndarray)
body_pos_w (ndarray)
body_quat_w (ndarray)
body_lin_vel_w (ndarray)
body_ang_vel_w (ndarray)
object_pos_w (ndarray | None)
object_quat_w (ndarray | None)
object_lin_vel_w (ndarray | None)
object_ang_vel_w (ndarray | None)

object_pos_w: ndarray | None = None¶

object_quat_w: ndarray | None = None¶

object_lin_vel_w: ndarray | None = None¶

object_ang_vel_w: ndarray | None = None¶

__init__(joint_pos, joint_vel, body_pos_w, body_quat_w, body_lin_vel_w, body_ang_vel_w, object_pos_w=None, object_quat_w=None, object_lin_vel_w=None, object_ang_vel_w=None)¶

Parameters:

joint_pos (ndarray)
joint_vel (ndarray)
body_pos_w (ndarray)
body_quat_w (ndarray)
body_lin_vel_w (ndarray)
body_ang_vel_w (ndarray)
object_pos_w (ndarray | None)
object_quat_w (ndarray | None)
object_lin_vel_w (ndarray | None)
object_ang_vel_w (ndarray | None)

joint_pos: ndarray¶

joint_vel: ndarray¶

body_pos_w: ndarray¶

body_quat_w: ndarray¶

body_lin_vel_w: ndarray¶

body_ang_vel_w: ndarray¶

class unilab.envs.motion_tracking.g1.BoxMotionLoader[source]¶

Bases: MotionLoader

Motion loader that also loads object state from NPZ files.

__init__(motion_file, body_indices=None)[source]¶

Initialize motion loader.

Parameters:

motion_file – Path to one NPZ file, or a sequence of NPZ files
body_indices – Optional indices into the NPZ body axis. The exported motion files currently keep MuJoCo body-id layout, so these indices are expected to follow that convention.

get_motion_at_frame(frame_idx, out=None)[source]¶

Get motion data at specified frame indices.

Parameters:

frame_idx (ndarray) – Frame indices (N,)
out (MotionData | None) – Optional reusable output buffer.

Return type:

BoxMotionData

Returns:

MotionData at specified frames

Modules

`box_tracking`	G1 box tracking environment with object-aware motion imitation.
`flip_tracking`	Flip-specialized G1 motion tracking environment.
`flip_tracking_sac`	SAC variants of the G1 flip / wall-flip tracking tasks.
`motion_box_loader`	Motion loading with object state support for box tracking tasks.
`motion_loader`	Motion loading and sampling for motion tracking tasks.
`tracking`	G1 Motion Tracking Environment - Motion imitation task.
`tracking_obs`	G1 Whole-Body Tracking — sim2real-oriented SAC variant (task `G1WBTObs`).
`tracking_sac`	G1 Motion Tracking SAC Environment — thin SAC wrapper over G1MotionTrackingEnv.