Language

unilab.tasks.motion_tracking.common.manager_terms¶

Manager-native NumPy terms for motion tracking.

Functions

`bad_anchor_ori`(env, command_name, threshold)
`joint_pos_limits`(env[, asset_cfg])	Penalize selected joint-limit violations through the entity facade.
`motion_anchor_ori_b`(env, command_name)
`motion_anchor_pos_b`(env, command_name)
`motion_clip_end`(env, command_name)
`motion_global_anchor_orientation_error_exp`(...)
`motion_global_anchor_position_error_exp`(env, ...)
`motion_joint_pos_rel`(env, command_name)
`motion_joint_pos_rel_biased`(env, command_name)	Joint position relative to the episode default, including encoder bias.
`motion_joint_position_error_exp`(env, ...)
`motion_joint_velocity_error_exp`(env, ...)
`robot_body_ori_b`(env, command_name)
`robot_body_pos_b`(env, command_name)

Classes

`MotionCommand`	Motion reference command on UniLab's NumPy/entity runtime.
`MotionCommandCfg`	Community-shaped motion command with Hydra-owned nested parameters.
`MotionCommandParamsCfg`	Hydra-owned motion data and sampling parameters.
`MotionJointPositionAction`
`MotionJointPositionActionCfg`	MotionJointPositionActionCfg(*, entity_name: 'str', clip: 'dict[str, tuple] \| None' = None, actuator_names: 'tuple[str, ...] \| list[str]', scale: 'float \| dict[str, float]' = 1.0, offset: 'float \| dict[str, float]' = 0.0, preserve_order: 'bool' = False, use_default_offset: 'bool' = True, command_name: 'str' = 'motion', simulate_action_latency: 'bool' = False)
`bad_anchor_pos_z_only`	Anchor-height termination backed by a parallel, pre-warmed Numba kernel.
`bad_motion_body_pos_z_only`
`bad_undesired_body_contacts`
`motion_global_body_angular_velocity_error_exp`
`motion_global_body_linear_velocity_error_exp`
`motion_relative_body_orientation_error_exp`
`motion_relative_body_position_error_exp`
`motion_relative_body_position_z_error_exp`
`undesired_body_contacts`

class unilab.tasks.motion_tracking.common.manager_terms.MotionCommand[source]¶

Bases: CommandTerm

Motion reference command on UniLab’s NumPy/entity runtime.

Parameters:

cfg (MotionCommandCfg)
env (ManagerBasedRlEnv)

cfg: MotionCommandCfg¶

__init__(cfg, env)[source]¶

Parameters:

cfg (MotionCommandCfg)
env (ManagerBasedRlEnv)

property command: ndarray¶

property joint_pos: ndarray¶

property joint_vel: ndarray¶

property body_pos_w: ndarray¶

property body_quat_w: ndarray¶

property body_lin_vel_w: ndarray¶

property body_ang_vel_w: ndarray¶

property anchor_pos_w: ndarray¶

property anchor_quat_w: ndarray¶

property anchor_lin_vel_w: ndarray¶

property anchor_ang_vel_w: ndarray¶

property robot_joint_pos: ndarray¶

property robot_joint_vel: ndarray¶

property robot_body_pos_w: ndarray¶

property robot_body_quat_w: ndarray¶

property robot_body_lin_vel_w: ndarray¶

property robot_body_ang_vel_w: ndarray¶

property robot_anchor_pos_w: ndarray¶

property robot_anchor_quat_w: ndarray¶

property robot_anchor_lin_vel_w: ndarray¶

property robot_anchor_ang_vel_w: ndarray¶

reset(env_ids)[source]¶

Resets the manager term.

Parameters:: env_ids (ndarray | slice | None)
Return type:: dict[str, float]

post_compute()[source]¶

Refresh state that depends on committed command-side simulation writes.

Return type:: None

class unilab.tasks.motion_tracking.common.manager_terms.MotionCommandCfg[source]¶

Bases: CommandTermCfg

Community-shaped motion command with Hydra-owned nested parameters.

Parameters:

resampling_time_range (tuple[float, float])
debug_vis (bool)
entity_name (str)
params (MotionCommandParamsCfg)

entity_name: str¶

params: MotionCommandParamsCfg¶

build(env)[source]¶

Build the command term from this config.

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

property motion_file: str | list[str]¶

property anchor_body_name: str¶

property body_names: tuple[str, ...]¶

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

__init__(*, resampling_time_range, debug_vis=False, entity_name, params)¶

Parameters:

resampling_time_range (tuple[float, float])
debug_vis (bool)
entity_name (str)
params (MotionCommandParamsCfg)

class unilab.tasks.motion_tracking.common.manager_terms.MotionCommandParamsCfg[source]¶

Bases: object

Hydra-owned motion data and sampling parameters.

Parameters:

motion_file (str | list[str])
anchor_body_name (str)
body_names (tuple[str, ...] | list[str])
sampling_mode (Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'])
sampling_start_ratio (float)
truncate_on_clip_end (bool)
pose_range (dict[str, tuple[float, float]])
velocity_range (dict[str, tuple[float, float]])
joint_position_range (tuple[float, float])
joint_default_position_range (tuple[float, float])
adaptive_lambda (float)
adaptive_kernel_size (int)
adaptive_uniform_ratio (float)
adaptive_alpha (float)

motion_file: str | list[str]¶

anchor_body_name: str¶

body_names: tuple[str, ...] | list[str]¶

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

sampling_start_ratio: float = 0.0¶

truncate_on_clip_end: bool = False¶

pose_range: dict[str, tuple[float, float]]¶

velocity_range: dict[str, tuple[float, float]]¶

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

joint_default_position_range: tuple[float, float] = (0.0, 0.0)¶

adaptive_lambda: float = 0.8¶

adaptive_kernel_size: int = 1¶

adaptive_uniform_ratio: float = 0.1¶

adaptive_alpha: float = 0.001¶

__init__(motion_file, anchor_body_name, body_names, sampling_mode='adaptive', sampling_start_ratio=0.0, truncate_on_clip_end=False, pose_range=<factory>, velocity_range=<factory>, joint_position_range=(-0.1, 0.1), joint_default_position_range=(0.0, 0.0), adaptive_lambda=0.8, adaptive_kernel_size=1, adaptive_uniform_ratio=0.1, adaptive_alpha=0.001)¶

Parameters:

motion_file (str | list[str])
anchor_body_name (str)
body_names (tuple[str, ...] | list[str])
sampling_mode (Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed'])
sampling_start_ratio (float)
truncate_on_clip_end (bool)
pose_range (dict[str, tuple[float, float]])
velocity_range (dict[str, tuple[float, float]])
joint_position_range (tuple[float, float])
joint_default_position_range (tuple[float, float])
adaptive_lambda (float)
adaptive_kernel_size (int)
adaptive_uniform_ratio (float)
adaptive_alpha (float)

class unilab.tasks.motion_tracking.common.manager_terms.MotionJointPositionAction[source]¶

Bases: JointPositionAction

Parameters:

cfg (MotionJointPositionActionCfg)
env (ManagerBasedRlEnv)

cfg: MotionJointPositionActionCfg¶

__init__(cfg, env)[source]¶

Parameters:

cfg (MotionJointPositionActionCfg)
env (ManagerBasedRlEnv)

property target: ndarray¶: Most recently applied physical joint target in entity joint order.

process_actions(actions)[source]¶

Parameters:: actions (ndarray)
Return type:: None

reset(env_ids=None)[source]¶

Resets the manager term.

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

apply_actions()[source]¶

Return type:: None

class unilab.tasks.motion_tracking.common.manager_terms.MotionJointPositionActionCfg[source]¶

Bases: JointPositionActionCfg

MotionJointPositionActionCfg(*, entity_name: ‘str’, clip: ‘dict[str, tuple] | None’ = None, actuator_names: ‘tuple[str, …] | list[str]’, scale: ‘float | dict[str, float]’ = 1.0, offset: ‘float | dict[str, float]’ = 0.0, preserve_order: ‘bool’ = False, use_default_offset: ‘bool’ = True, command_name: ‘str’ = ‘motion’, simulate_action_latency: ‘bool’ = False)

Parameters:

entity_name (str)
clip (dict[str, tuple] | None)
actuator_names (tuple[str, ...] | list[str])
scale (float | dict[str, float])
offset (float | dict[str, float])
preserve_order (bool)
use_default_offset (bool)
command_name (str)
simulate_action_latency (bool)

command_name: str = 'motion'¶

simulate_action_latency: bool = False¶

build(env)[source]¶

Build the action term from this config.

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

__init__(*, entity_name, clip=None, actuator_names, scale=1.0, offset=0.0, preserve_order=False, use_default_offset=True, command_name='motion', simulate_action_latency=False)¶

Parameters:

entity_name (str)
clip (dict[str, tuple] | None)
actuator_names (tuple[str, ...] | list[str])
scale (float | dict[str, float])
offset (float | dict[str, float])
preserve_order (bool)
use_default_offset (bool)
command_name (str)
simulate_action_latency (bool)

unilab.tasks.motion_tracking.common.manager_terms.bad_anchor_ori(env, command_name, threshold, asset_cfg=None)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)
threshold (float)
asset_cfg (SceneEntityCfg | None)

Return type:

ndarray

class unilab.tasks.motion_tracking.common.manager_terms.bad_anchor_pos_z_only[source]¶

Bases: ManagerTermBase

Anchor-height termination backed by a parallel, pre-warmed Numba kernel.

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.motion_tracking.common.manager_terms.bad_motion_body_pos_z_only[source]¶

Bases: _BodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.motion_tracking.common.manager_terms.bad_undesired_body_contacts[source]¶

Bases: _BodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

unilab.tasks.motion_tracking.common.manager_terms.joint_pos_limits(env, 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]¶

Penalize selected joint-limit violations through the entity facade.

Parameters:

env (ManagerBasedRlEnv)
asset_cfg (SceneEntityCfg)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_anchor_ori_b(env, command_name)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_anchor_pos_b(env, command_name)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_clip_end(env, command_name)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_global_anchor_orientation_error_exp(env, command_name, std)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)
std (float)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_global_anchor_position_error_exp(env, command_name, std)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)
std (float)

Return type:

ndarray

class unilab.tasks.motion_tracking.common.manager_terms.motion_global_body_angular_velocity_error_exp[source]¶

Bases: _NumbaBodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.motion_tracking.common.manager_terms.motion_global_body_linear_velocity_error_exp[source]¶

Bases: _NumbaBodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

unilab.tasks.motion_tracking.common.manager_terms.motion_joint_pos_rel(env, command_name)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_joint_pos_rel_biased(env, command_name)[source]¶

Joint position relative to the episode default, including encoder bias.

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_joint_position_error_exp(env, command_name, std)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)
std (float)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.motion_joint_velocity_error_exp(env, command_name, std)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)
std (float)

Return type:

ndarray

class unilab.tasks.motion_tracking.common.manager_terms.motion_relative_body_orientation_error_exp[source]¶

Bases: _NumbaBodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.motion_tracking.common.manager_terms.motion_relative_body_position_error_exp[source]¶

Bases: _NumbaBodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

class unilab.tasks.motion_tracking.common.manager_terms.motion_relative_body_position_z_error_exp[source]¶

Bases: _BodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

unilab.tasks.motion_tracking.common.manager_terms.robot_body_ori_b(env, command_name)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

unilab.tasks.motion_tracking.common.manager_terms.robot_body_pos_b(env, command_name)[source]¶

Parameters:

env (ManagerBasedRlEnv)
command_name (str)

Return type:

ndarray

class unilab.tasks.motion_tracking.common.manager_terms.undesired_body_contacts[source]¶

Bases: _BodyTerm

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)