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unilab.envs.locomotion.common.rewards.run_reward_dispatch

unilab.envs.locomotion.common.rewards.run_reward_dispatch(*, scales, fns, ctx, info, enable_log, ctrl_dt, log_every_n_steps=4, only_positive=False)

Standard scales × fns(ctx) reduction shared by all locomotion envs.

• Writes per-reward means into info["log"] when enable_log and the steps[0] cadence matches log_every_n_steps.

• Returns reward * ctrl_dt (with optional positive clamp).

Parameters:

• scales (Mapping[str, float])

• fns (Mapping[str, Callable[[RewardContext], ndarray]])

• ctx (RewardContext)

• info (dict[str, Any])

• enable_log (bool)

• ctrl_dt (float)

• log_every_n_steps (int)

• only_positive (bool)

Return type:

ndarray