unilab.envs.mdp.events.PushBySettingVelocity

class unilab.envs.mdp.events.PushBySettingVelocity[source]

Bases: ManagerTermBase

Pinned community velocity kick dispatched through the interval plan.

Linear (x/y/z) and angular (roll/pitch/yaw) ranges are world-frame deltas, matching the pinned mjlab semantics. Angular kicks require the backend’s interval angular-velocity capability; backends without it fail closed at construction.

__call__ re-reads the live velocity_range on every apply so event_curriculum range stages take effect (the documented manager contract); construction still parses the initial ranges to decide which backend capabilities to bind. A curriculum that activates angular ranges on a term constructed without them fails closed at apply time.

Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

__call__(env, env_ids, velocity_range, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))[source]

Returns the value of the term required by the manager.

Parameters:
Return type:

None

property name: str
property num_envs: int
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any