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fix: pin get_body_*_vel_b to analytical body-frame semantics across backends #1254

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TATP-233 merged 2 commits into from
Aug 23, 2026
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fix: pin get_body_*_vel_b to analytical body-frame semantics across backends #1254

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65b7b78
fix: pin get_body_*_vel_b to analytical body-frame semantics across b…
TATP-233 Aug 22, 2026
bdba404
revert: restore quadruped base-velocity rewards to generic entity-dat…
TATP-233 Aug 23, 2026
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21 changes: 6 additions & 15 deletions conf/appo/task/go1_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -191,33 +191,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.2
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
21 changes: 6 additions & 15 deletions conf/appo/task/go2_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,33 +154,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.2
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
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21 changes: 6 additions & 15 deletions conf/flashsac/task/go2_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,33 +154,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.2
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
6 changes: 2 additions & 4 deletions conf/flashsac/task/go2_joystick_flat/mujoco.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,13 +97,11 @@ reward:
tracking_lin_vel:
weight: 1.0
params:
# exp(-err / tracking_sigma) with sigma 0.4 matches the former
# exp(-err / std**2) with std 0.6324555320336759.
tracking_sigma: 0.4
std: 0.6324555320336759
tracking_ang_vel:
weight: 0.2
params:
tracking_sigma: 0.4
std: 0.6324555320336759
lin_vel_z:
weight: -5.0
ang_vel_xy:
Expand Down
21 changes: 6 additions & 15 deletions conf/ppo/task/a2_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -222,33 +222,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.4
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
21 changes: 6 additions & 15 deletions conf/ppo/task/go1_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -191,33 +191,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.2
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
21 changes: 6 additions & 15 deletions conf/ppo/task/go2_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,33 +154,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.2
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
21 changes: 6 additions & 15 deletions conf/ppo/task/go2w_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -203,33 +203,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.75
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
21 changes: 6 additions & 15 deletions conf/ppo/task/quadruped_joystick_rough/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,33 +129,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 3.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 1.5
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -2.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.05
params:
sensor_name: gyro
action_rate:
func: unilab.envs.mdp.action_rate_l2
weight: -0.01
21 changes: 6 additions & 15 deletions conf/sac/task/go2_joystick_flat/base.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,33 +154,24 @@ env:
critic_observation_group: critic

reward:
# Base-velocity terms bind the IMU-style XML sensors (local_linvel / gyro)
# like the legacy task; Entity root_link_*_vel_b reads base-relative frame
# sensors that are identically zero for the root body on Motrix.
tracking_lin_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel
func: unilab.tasks.locomotion.common.manager_terms.track_lin_vel_xy_exp
weight: 1.0
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: local_linvel
tracking_ang_vel:
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel
func: unilab.tasks.locomotion.common.manager_terms.track_ang_vel_z_exp
weight: 0.2
params:
tracking_sigma: 0.25
std: 0.5
command_name: twist
sensor_name: gyro
lin_vel_z:
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z
func: unilab.tasks.locomotion.common.manager_terms.lin_vel_z_l2
weight: -5.0
params:
sensor_name: local_linvel
ang_vel_xy:
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy
func: unilab.tasks.locomotion.common.manager_terms.ang_vel_xy_l2
weight: -0.1
params:
sensor_name: gyro
base_height:
func: unilab.tasks.locomotion.common.manager_terms.base_height_l2
weight: -100.0
Expand Down
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