End-effector tracking + state-estimation obs

Task id: Wbc-G1-EE-SE · In-tree reference on robot g1.

EE actor command with state-estimation observations — same WBC rewards as Default WBC stack / End-effector actor command, plus anchor pose error and base linear velocity.

• Presets: apply_wbc + apply_end_effector + apply_se_actor + IMU

• Builder: g1_wbc_ee_se_env_cfg()

What this task adds

On top of End-effector actor command, apply_se_actor (presets/se_actor.py):

Removes from actor: ref_base_height, ref_gravity_b, projected_gravity

Adds: motion_anchor_pos_error_w, motion_anchor_ori_error, base_lin_vel

Dim rules: Observations.

Train & play

uv run wbc-mjlab-train --task Wbc-G1-EE-SE --dataset samples
uv run wbc-mjlab-play --task Wbc-G1-EE-SE --dataset samples --viewer viser

Logs: logs/rsl_rl/wbc_g1_ee_se/<run>/