unilab.tasks.motion_tracking.g1.manager_terms.BoxMotionCommandCfg

class unilab.tasks.motion_tracking.g1.manager_terms.BoxMotionCommandCfg[source]

Bases: MotionCommandCfg

Motion command extended with one independently simulated object.

Parameters:

  • resampling_time_range (tuple[float, float])

  • debug_vis (bool)

  • entity_name (str)

  • params (MotionCommandParamsCfg)

  • object_entity_name (str)

Methods

__init__(*, resampling_time_range[, debug_vis])

build(env)

Build the command term from this config.

Attributes

anchor_body_name

body_names

debug_vis

Whether to enable debug visualization for this command term.

motion_file

sampling_mode

object_entity_name

entity_name

params

resampling_time_range

Time range in seconds for command resampling.
object_entity_name: str
build(env)[source]

Build the command term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

BoxMotionCommand

__init__(*, resampling_time_range, debug_vis=False, entity_name, params, object_entity_name)
Parameters:

  • resampling_time_range (tuple[float, float])

  • debug_vis (bool)

  • entity_name (str)

  • params (MotionCommandParamsCfg)

  • object_entity_name (str)

property anchor_body_name: str
property body_names: tuple[str, ...]
debug_vis: bool = False

Whether to enable debug visualization for this command term. When True, the command term’s _debug_vis_impl method is called each frame to render visual aids (e.g., velocity arrows, target markers).

property motion_file: str | list[str]
property sampling_mode: Literal['start', 'clip_start', 'uniform', 'adaptive', 'mixed']
entity_name: str
params: MotionCommandParamsCfg
resampling_time_range: tuple[float, float]

Time range in seconds for command resampling. When the timer expires, a new command is sampled and the timer is reset to a value uniformly drawn from [min, max]. Set both values equal for fixed-interval resampling.