Language

unilab.visualization.interactive_playback¶

Shared core for interactive policy playback entrypoints.

Functions

`create_rsl_rl_playback_session`(*, ...[, log])	Create a playback session and load the selected policy checkpoint.
`prepare_motion_overlay_selection`(env, *, ...)	Resolve body indices used by motion-target and reward-debug overlays.
`select_torch_device`()

Classes

`KeyboardCommander`	Mutable `[vx, vy, vyaw]` velocity command driven by keyboard nudges.
`MotionOverlaySelection`	Cold-path selection of task bodies used by playback overlays.
`PlaybackControls`	Viewer-independent playback control state.
`RslRlPlaybackConfig`	Configuration needed to bootstrap an RSL-RL interactive playback session.
`RslRlPlaybackSession`	Policy/action stepping core shared by native and web viewers.

class unilab.visualization.interactive_playback.KeyboardCommander[source]¶

Bases: object

Mutable [vx, vy, vyaw] velocity command driven by keyboard nudges.

Per-axis nudges stack and are clamped to the task’s commands.vel_limit.

Parameters:

low (ndarray)
high (ndarray)
step_lin (float)
step_ang (float)

low: ndarray¶

high: ndarray¶

step_lin: float = 0.1¶

step_ang: float = 0.2¶

command: ndarray¶

AXIS_VX: ClassVar[int] = 0¶

AXIS_VY: ClassVar[int] = 1¶

AXIS_VYAW: ClassVar[int] = 2¶

classmethod from_vel_limit(vel_limit, *, step_lin=0.1, step_ang=0.2)[source]¶

Parameters:

vel_limit (Any)
step_lin (float)
step_ang (float)

Return type:

KeyboardCommander

nudge(axis, sign)[source]¶

Parameters:

axis (int)
sign (float)

Return type:

None

zero()[source]¶

Return type:: None

describe()[source]¶

Return type:: str

__init__(low, high, step_lin=0.1, step_ang=0.2)¶

Parameters:

low (ndarray)
high (ndarray)
step_lin (float)
step_ang (float)

class unilab.visualization.interactive_playback.MotionOverlaySelection[source]¶

Bases: object

Cold-path selection of task bodies used by playback overlays.

Parameters:

enabled (bool)
selected_indices (ndarray)

enabled: bool¶

selected_indices: ndarray¶

__init__(enabled, selected_indices)¶

Parameters:

enabled (bool)
selected_indices (ndarray)

class unilab.visualization.interactive_playback.OffPolicyPlaybackSession[source]¶

Bases: object

Direct env stepping session for SAC-style off-policy actors.

Parameters:

env (Any)
device (str)
action_mode (str)
actor (Any | None)
actor_algo_type (str)
normalizer (Any | None)
num_envs (int)
obs_extractor (Callable[[dict[str, ndarray]], ndarray])
priv_info_resolver (Callable[..., ndarray | None])

__init__(*, env, device, action_mode, actor, actor_algo_type, normalizer, num_envs, obs_extractor, priv_info_resolver)[source]¶

Parameters:

env (Any)
device (str)
action_mode (str)
actor (Any | None)
actor_algo_type (str)
normalizer (Any | None)
num_envs (int)
obs_extractor (Callable[[dict[str, ndarray]], ndarray])
priv_info_resolver (Callable[..., ndarray | None])

reset()[source]¶

Return type:: ndarray

step_once()[source]¶

Return type:: ndarray

advance(controls)[source]¶

Parameters:: controls (PlaybackControls)
Return type:: bool

physics_state()[source]¶

Return type:: ndarray

property info: dict[str, Any]¶

class unilab.visualization.interactive_playback.PlaybackControls[source]¶

Bases: object

Viewer-independent playback control state.

Parameters:

paused (bool)
speed (float)

paused: bool = False¶

speed: float = 1.0¶

pause()[source]¶

Return type:: None

resume()[source]¶

Return type:: None

toggle_pause()[source]¶

Return type:: bool

request_single_step(count=1)[source]¶

Parameters:: count (int)
Return type:: None

set_speed(value)[source]¶

Parameters:: value (float)
Return type:: None

consume_step_permission()[source]¶

Return type:: bool

target_dt(ctrl_dt)[source]¶

Parameters:: ctrl_dt (float)
Return type:: float

__init__(paused=False, speed=1.0)¶

Parameters:

paused (bool)
speed (float)

class unilab.visualization.interactive_playback.PlaybackSession[source]¶

Bases: Protocol

Viewer-facing session contract shared by all policy families.

env: Any¶

reset()[source]¶

Return type:: Any

advance(controls)[source]¶

Parameters:: controls (PlaybackControls)
Return type:: bool

physics_state()[source]¶

Return type:: ndarray

property info: dict[str, Any]¶

__init__(*args, **kwargs)¶

class unilab.visualization.interactive_playback.RslRlPlaybackConfig[source]¶

Bases: object

Configuration needed to bootstrap an RSL-RL interactive playback session.

Parameters:

task (str)
load_run (str)
checkpoint (str | None)
action_mode (str)
policy_obs_mode (str)
algo_log_name (str)
log_root (str | None)
num_envs (int)
speed (float)
start_paused (bool)

task: str¶

load_run: str¶

checkpoint: str | None¶

action_mode: str¶

policy_obs_mode: str¶

algo_log_name: str¶

log_root: str | None¶

num_envs: int = 1¶

speed: float = 1.0¶

start_paused: bool = False¶

__init__(task, load_run, checkpoint, action_mode, policy_obs_mode, algo_log_name, log_root, num_envs=1, speed=1.0, start_paused=False)¶

Parameters:

task (str)
load_run (str)
checkpoint (str | None)
action_mode (str)
policy_obs_mode (str)
algo_log_name (str)
log_root (str | None)
num_envs (int)
speed (float)
start_paused (bool)

class unilab.visualization.interactive_playback.RslRlPlaybackSession[source]¶

Bases: object

Policy/action stepping core shared by native and web viewers.

Parameters:

env (Any)
wrapped_env (Any)
device (str)
action_mode (str)
policy (Callable[[Any], Any] | None)
num_envs (int)

__init__(*, env, wrapped_env, device, action_mode, policy, num_envs)[source]¶

Parameters:

env (Any)
wrapped_env (Any)
device (str)
action_mode (str)
policy (Callable[[Any], Any] | None)
num_envs (int)

reset()[source]¶

Return type:: Any

step_once()[source]¶

Return type:: Any

advance(controls)[source]¶

Parameters:: controls (PlaybackControls)
Return type:: bool

physics_state()[source]¶

Return type:: ndarray

property info: dict[str, Any]¶

unilab.visualization.interactive_playback.create_appo_playback_session(*, playback_cfg, cfg, rl_cfg, env_factory, root_dir, device, wrapper_cls, log=<built-in function print>)[source]¶

Create an APPO interactive playback session.

Parameters:

playback_cfg (RslRlPlaybackConfig)
cfg (Any)
rl_cfg (dict[str, Any])
env_factory (Callable[[int], Any])
root_dir (str | Path)
device (str | None)
wrapper_cls (Any)
log (Callable[[str], None])

Return type:

tuple[RslRlPlaybackSession, str, str | None]

unilab.visualization.interactive_playback.create_hora_distill_playback_session(*, playback_cfg, cfg, root_dir, device, deps=None, log=<built-in function print>)[source]¶

Create an interactive playback session for HORA stage-2 student checkpoints.

Parameters:

playback_cfg (RslRlPlaybackConfig)
cfg (Any)
root_dir (str | Path)
device (str | None)
deps (Mapping[str, Any] | None)
log (Callable[[str], None])

Return type:

tuple[RslRlPlaybackSession, str, str | None]

unilab.visualization.interactive_playback.create_rsl_rl_playback_session(*, playback_cfg, env_factory, algo_config, root_dir, device, checkpoint_resolver, checkpoint_input_dim_reader, entrypoint_log_root, wrapper_cls, runner_cls, policy_obs_dims_getter, train_cfg_normalizer, log=<built-in function print>)[source]¶

Create a playback session and load the selected policy checkpoint.

Parameters:

playback_cfg (RslRlPlaybackConfig)
env_factory (Callable[[int], Any])
algo_config (dict[str, Any])
root_dir (str | Path)
device (str | None)
checkpoint_resolver (Callable[[str, str, str | None, str, str | None], str | None])
checkpoint_input_dim_reader (Callable[[str], int | None])
entrypoint_log_root (Callable[..., Path])
wrapper_cls (Any)
runner_cls (Any)
policy_obs_dims_getter (Callable[[Any], tuple[int, int]])
train_cfg_normalizer (Callable[[dict[str, Any]], dict[str, Any]])
log (Callable[[str], None])

Return type:

tuple[RslRlPlaybackSession, str, str | None]

unilab.visualization.interactive_playback.create_sac_playback_session(*, playback_cfg, cfg, env_factory, root_dir, device, algo_name='sac', log=<built-in function print>)[source]¶

Create an interactive playback session for off-policy actors.

Parameters:

playback_cfg (RslRlPlaybackConfig)
cfg (Any)
env_factory (Callable[[int], Any])
root_dir (str | Path)
device (str | None)
algo_name (str)
log (Callable[[str], None])

Return type:

tuple[OffPolicyPlaybackSession, str, str | None]

unilab.visualization.interactive_playback.prepare_motion_overlay_selection(env, *, show_target_bodies, show_reward_debug, target_body_names, target_max_bodies, log=<built-in function print>)[source]¶

Resolve body indices used by motion-target and reward-debug overlays.

Parameters:

env (Any)
show_target_bodies (bool)
show_reward_debug (bool)
target_body_names (str)
target_max_bodies (int)
log (Callable[[str], None])

Return type:

MotionOverlaySelection

unilab.visualization.interactive_playback.select_torch_device()[source]¶

Return type:: str