Language

unilab.envs.motion_tracking.g1.motion_loader.MotionData¶

class unilab.envs.motion_tracking.g1.motion_loader.MotionData[source]¶

Bases: object

Container for motion data at specific frame(s).

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)

Methods

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

Attributes

`joint_pos`
`joint_vel`
`body_pos_w`
`body_quat_w`
`body_lin_vel_w`
`body_ang_vel_w`

joint_pos: ndarray¶

joint_vel: ndarray¶

body_pos_w: ndarray¶

body_quat_w: ndarray¶

body_lin_vel_w: ndarray¶

body_ang_vel_w: ndarray¶

__init__(joint_pos, joint_vel, body_pos_w, body_quat_w, body_lin_vel_w, body_ang_vel_w)¶

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)