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unilab.tasks.locomotion.g1.manager_terms¶

Task-owned Manager-Based terms for G1 biped locomotion.

The equations come from UniLab’s legacy G1Walk joystick tasks. The adaptation uses community func + params terms, NumPy, cached cold-path sensor bindings, and the base-owned entity facade; hot paths never parse assets or probe backend privates.

Functions

`compute_feet_phase_contact_targets`(...)	Expected per-foot contact flags derived from the Bézier height targets.
`compute_feet_phase_height_targets`(...)	Cubic-Bézier per-foot height targets, ported from the legacy G1 task.
`make_g1_walk_env`(cfg[, num_envs, backend_type])	Construct the Registry-owned G1 Manager-Based production runtime.
`upper_body_pose`(env, pose_weights[, asset_cfg])	Weighted L2 pose penalty with the twelve leg joints zeroed out.
`weighted_pose`(env, pose_weights[, asset_cfg])	Weighted L2 penalty for joint position deviation from the default pose.

Classes

`G1GaitPhase`	Two-foot gait phase observation in radians, with per-reset phase sampling.
`G1PenaltyCurriculum`	Scale negative-weight reward terms by average episode length.
`G1VelocityCommand`
`G1VelocityCommandCfg`	G1 velocity command with the legacy planar-norm dead zone.
`G1WalkManagerBasedEnv`	Manager-Based G1 walk runtime.
`feet_air_time`	Count feet whose current air time sits inside the rewarded window.
`feet_double_stance`	Penalize double-stance contact while a forward command is active.
`feet_phase`	Reward gait phase tracking by encouraging the expected swing-foot height.
`feet_phase_contact`	Reward foot contact matching the expected stance phase of the gait.
`feet_phase_contrast`	Reward left/right foot-height contrast against the gait-phase targets.
`forward_progress`	Reward forward progress relative to commanded speed.
`g1_tilt_exceeded`	Terminate when the base tilt from upright exceeds `max_tilt_deg`.
`penalty_close_feet_xy`	Penalty for feet closer than `threshold` in the horizontal plane.
`penalty_feet_ori`	Penalty for non-flat foot orientations (roll/pitch quaternion rows).
`under_speed`	Penalty for being below commanded forward speed.

class unilab.tasks.locomotion.g1.manager_terms.G1GaitPhase[source]¶

Bases: ManagerTermBase

Two-foot gait phase observation in radians, with per-reset phase sampling.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

reset(env_ids=None)[source]¶

Resets the manager term.

Parameters:: env_ids (ndarray | slice | None)
Return type:: None

class unilab.tasks.locomotion.g1.manager_terms.G1PenaltyCurriculum[source]¶

Bases: ManagerTermBase

Scale negative-weight reward terms by average episode length.

Ports the legacy G1 penalty curriculum: penalty weights start at initial_scale of their configured value and relax toward max_scale as the tracked average episode length crosses the configured thresholds.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

class unilab.tasks.locomotion.g1.manager_terms.G1VelocityCommand[source]¶

Bases: UniformVelocityCommand

Parameters:

cfg (G1VelocityCommandCfg)
env (ManagerBasedRlEnv)

cfg: G1VelocityCommandCfg¶

__init__(cfg, env)[source]¶

Parameters:

cfg (G1VelocityCommandCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.g1.manager_terms.G1VelocityCommandCfg[source]¶

Bases: UniformVelocityCommandCfg

G1 velocity command with the legacy planar-norm dead zone.

Parameters:

resampling_time_range (tuple[float, float])
debug_vis (bool)
entity_name (str)
heading_command (bool)
heading_control_stiffness (float)
rel_standing_envs (float)
rel_heading_envs (float)
rel_world_envs (float)
rel_forward_envs (float)
init_velocity_prob (float)
ranges (Ranges)
viz (VizCfg)
planar_dead_zone (float)

planar_dead_zone: float = 0.2¶

build(env)[source]¶

Build the command term from this config.

Parameters:: env (ManagerBasedRlEnv)
Return type:: G1VelocityCommand

__init__(*, resampling_time_range, debug_vis=False, entity_name, heading_command=False, heading_control_stiffness=1.0, rel_standing_envs=0.0, rel_heading_envs=1.0, rel_world_envs=0.0, rel_forward_envs=0.0, init_velocity_prob=0.0, ranges, viz=<factory>, planar_dead_zone=0.2)¶

Parameters:

resampling_time_range (tuple[float, float])
debug_vis (bool)
entity_name (str)
heading_command (bool)
heading_control_stiffness (float)
rel_standing_envs (float)
rel_heading_envs (float)
rel_world_envs (float)
rel_forward_envs (float)
init_velocity_prob (float)
ranges (Ranges)
viz (VizCfg)
planar_dead_zone (float)

class unilab.tasks.locomotion.g1.manager_terms.G1WalkManagerBasedEnv[source]¶

Bases: ManagerBasedRlEnv

Manager-Based G1 walk runtime.

Parameters:

cfg (ManagerBasedRlEnvCfg)
backend (SimBackend)
num_envs (int)

unilab.tasks.locomotion.g1.manager_terms.compute_feet_phase_contact_targets(gait_phase, swing_height)[source]¶

Expected per-foot contact flags derived from the Bézier height targets.

Parameters:

gait_phase (ndarray)
swing_height (float)

Return type:

tuple[ndarray, ndarray]

unilab.tasks.locomotion.g1.manager_terms.compute_feet_phase_height_targets(gait_phase, swing_height)[source]¶

Cubic-Bézier per-foot height targets, ported from the legacy G1 task.

Parameters:

gait_phase (ndarray)
swing_height (float)

Return type:

tuple[ndarray, ndarray]

class unilab.tasks.locomotion.g1.manager_terms.feet_air_time[source]¶

Bases: _FootContactTerm

Count feet whose current air time sits inside the rewarded window.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

reset(env_ids=None)[source]¶

Resets the manager term.

Parameters:: env_ids (ndarray | slice | None)
Return type:: None

class unilab.tasks.locomotion.g1.manager_terms.feet_double_stance[source]¶

Bases: _FootContactTerm

Penalize double-stance contact while a forward command is active.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

class unilab.tasks.locomotion.g1.manager_terms.feet_phase[source]¶

Bases: _GaitRewardTerm

Reward gait phase tracking by encouraging the expected swing-foot height.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

class unilab.tasks.locomotion.g1.manager_terms.feet_phase_contact[source]¶

Bases: _FootContactTerm

Reward foot contact matching the expected stance phase of the gait.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

class unilab.tasks.locomotion.g1.manager_terms.feet_phase_contrast[source]¶

Bases: _GaitRewardTerm

Reward left/right foot-height contrast against the gait-phase targets.

Parameters:

cfg (ManagerTermBaseCfg)
env (_G1Env)

class unilab.tasks.locomotion.g1.manager_terms.forward_progress[source]¶

Bases: _LinVelTerm

Reward forward progress relative to commanded speed.

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.g1.manager_terms.g1_tilt_exceeded[source]¶

Bases: _UpvectorTerm

Terminate when the base tilt from upright exceeds max_tilt_deg.

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

unilab.tasks.locomotion.g1.manager_terms.make_g1_walk_env(cfg, num_envs=1, backend_type='mujoco')[source]¶

Construct the Registry-owned G1 Manager-Based production runtime.

Parameters:

cfg (ManagerBasedRlEnvCfg)
num_envs (int)
backend_type (str)

Return type:

G1WalkManagerBasedEnv

class unilab.tasks.locomotion.g1.manager_terms.penalty_close_feet_xy[source]¶

Bases: _SensorTerm

Penalty for feet closer than threshold in the horizontal plane.

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.g1.manager_terms.penalty_feet_ori[source]¶

Bases: _SensorTerm

Penalty for non-flat foot orientations (roll/pitch quaternion rows).

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.g1.manager_terms.under_speed[source]¶

Bases: _LinVelTerm

Penalty for being below commanded forward speed.

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

unilab.tasks.locomotion.g1.manager_terms.upper_body_pose(env, pose_weights, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))[source]¶

Weighted L2 pose penalty with the twelve leg joints zeroed out.

Parameters:

env (ManagerBasedRlEnv)
pose_weights (Any)
asset_cfg (SceneEntityCfg)

Return type:

ndarray

unilab.tasks.locomotion.g1.manager_terms.weighted_pose(env, pose_weights, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))[source]¶

Weighted L2 penalty for joint position deviation from the default pose.

Parameters:

env (ManagerBasedRlEnv)
pose_weights (Any)
asset_cfg (SceneEntityCfg)

Return type:

ndarray