Language

unilab.envs.motion_tracking.g1.motion_box_loader.BoxMotionData¶

class unilab.envs.motion_tracking.g1.motion_box_loader.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)

Methods

__init__(joint_pos, joint_vel, body_pos_w, ...)

Attributes

`object_ang_vel_w`
`object_lin_vel_w`
`object_pos_w`
`object_quat_w`
`joint_pos`
`joint_vel`
`body_pos_w`
`body_quat_w`
`body_lin_vel_w`
`body_ang_vel_w`

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¶