Language

unilab.envs.motion_tracking.g1.motion_box_loader.BoxMotionLoader¶

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

Motion loader that also loads object state from NPZ files.

Methods

`__init__`(motion_file[, body_indices])	Initialize motion loader.
`get_clip_end_frames`(frame_idx)	Return the inclusive global end frame for each indexed clip.
`get_clip_indices`(frame_idx)	Map global frame indices to clip indices.
`get_motion_at_frame`(frame_idx[, out])	Get motion data at specified frame indices.
`make_motion_data_buffer`(num_frames)	Allocate a reusable `MotionData` buffer for frame-index gathers.

__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:

Return type:

BoxMotionData

Returns:

MotionData at specified frames

get_clip_end_frames(frame_idx)¶

Return the inclusive global end frame for each indexed clip.

get_clip_indices(frame_idx)¶

Map global frame indices to clip indices.

make_motion_data_buffer(num_frames)¶

Allocate a reusable MotionData buffer for frame-index gathers.