unilab.envs.locomotion.common.terrain_spawn.TerrainSpawnManager

class unilab.envs.locomotion.common.terrain_spawn.TerrainSpawnManager[source]

Bases: BaseSpawnManager

Parameters:

Methods

__init__(num_envs, terrain_origins, ...[, ...])

apply_spawn(env_ids, qpos_xyz, *[, yaw])

origins_for(env_ids)

record_episode_start(env_ids, qpos_xyz)

update_on_done(done_indices, current_xyz)

Attributes

enabled

__init__(num_envs, terrain_origins, cell_size, cfg, terrain_surface_sampler=None, spawn_height_points=None)[source]
Parameters:
property enabled: bool
origins_for(env_ids)[source]
Parameters:

env_ids (ndarray)

Return type:

ndarray

apply_spawn(env_ids, qpos_xyz, *, yaw=None)[source]
Parameters:
Return type:

ndarray

record_episode_start(env_ids, qpos_xyz)[source]
Parameters:
Return type:

None

update_on_done(done_indices, current_xyz)[source]
Parameters:
Return type:

dict[str, float]