unilab.envs.locomotion.common.rewards.feet_air_time_positive_biped

unilab.envs.locomotion.common.rewards.feet_air_time_positive_biped(ctx, *, threshold=0.4, command_threshold=0.1)[source]

Biped foot air-time reward: only rewards single-stance phase.

Reads ctx.info keys current_air_time, current_contact_time (each shape (N, 2)); the environment populates them per step.

Parameters:
Return type:

ndarray