Language

unilab.envs.motion_tracking.g1.tracking.G1MotionTrackingEnvCfg¶

class unilab.envs.motion_tracking.g1.tracking.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)

Methods

`__init__`([scene, sim_dt, ...])
`validate`()	validate the config

Attributes

`anchor_body_name`
`anchor_ori_threshold`
`anchor_pos_z_threshold`
`body_names`
`ctrl_dt`
`ee_body_names`
`ee_body_pos_z_threshold`
`joint_position_range`
`max_episode_seconds`
`max_episode_steps`	return the max episode steps
`motion_file`
`motrix_max_iterations`
`post_step_forward_sensor`
`render_offset_mode`
`render_spacing`
`sampling_mode`
`sampling_start_ratio`
`scene`
`sim_dt`
`sim_substeps`	return the number of simulation steps per control step
`terminate_on_undesired_contacts`
`truncate_on_clip_end`
`undesired_contact_z_threshold`
`reward_config`
`pose_randomization`
`velocity_randomization`
`domain_rand`
`noise_config`
`control_config`
`sensor`
`asset`

__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)

anchor_body_name: str = 'torso_link'¶

anchor_ori_threshold: float = 0.8¶

anchor_pos_z_threshold: float = 0.25¶

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')¶

ctrl_dt: float = 0.02¶

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

ee_body_pos_z_threshold: float = 0.25¶

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

max_episode_seconds: float = 10.0¶

property max_episode_steps: int | None¶: return the max episode steps

motion_file: str | list[str] = '/home/admin1/ws/Eric/UniLab/src/unilab/assets/motions/g1/dance1_subject2_part.npz'¶

motrix_max_iterations: Optional[int] = None¶

post_step_forward_sensor: bool = False¶

render_offset_mode: str = 'grid'¶

render_spacing: float = 1.0¶

sampling_mode: Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'] = 'adaptive'¶

sampling_start_ratio: float = 0.0¶

scene: SceneCfg = None¶

sim_dt: float = 0.006666666666666667¶

property sim_substeps: int¶: return the number of simulation steps per control step

terminate_on_undesired_contacts: bool = False¶

truncate_on_clip_end: bool = False¶

undesired_contact_z_threshold: float = 0.05¶

validate()¶: validate the config

reward_config: RewardConfig¶

pose_randomization: PoseRandomization¶

velocity_randomization: VelocityRandomization¶

domain_rand: Domain_Rand¶

noise_config: NoiseConfig¶

control_config: ControlConfig¶

sensor: Sensor¶

asset: Asset¶