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unilab.envs — Tasks

Concrete RL tasks split by family:

• locomotion — Go1, Go2, Go2w, Go2 + Airbot, Unitree G1

• manipulation — Allegro / Sharpa in-hand cube

• motion_tracking — G1 whole-body motion tracking + flips

Every env inherits NpEnv and is registered into the task Registry so it can be selected via uv run train --algo <algo> --task <name> --sim <backend>.

• unilab.envs.locomotion
• unilab.envs.manipulation
• unilab.envs.motion_tracking
• unilab.envs.common
  • np_sample_uniform()
  • np_quat_mul()
  • np_quat_conjugate_batched()
  • np_quat_mul_batched()
  • np_quat_conjugate()
  • np_quat_canonicalize()
  • np_quat_ensure_continuity()
  • np_quat_to_axis_angle()
  • np_quat_angular_velocity()
  • np_yaw_to_quat()
  • np_yaw_from_quat()
  • np_wrap_to_pi()
  • np_quat_inv()
  • np_quat_apply()
  • np_quat_apply_batched()
  • np_quat_apply_inverse()
  • np_quat_error_magnitude()
  • np_quat_error_magnitude_batched()
  • np_quat_error_magnitude_squared_batched()
  • np_quat_from_euler_xyz()
  • np_yaw_quat()
  • np_matrix_from_quat()
  • np_matrix_first_two_cols_from_quat()
  • np_subtract_frame_transforms()
  • np_subtract_anchor_frame_transforms()

unilab.envs

Environment