unilab.envs.mdp.rewards.posture

class unilab.envs.mdp.rewards.posture[source]

Bases: ManagerTermBase

Penalize joint deviation from default pose with a per-joint-std Gaussian kernel.

params["std"] maps joint-name regexes to per-joint standard deviations; the reward is exp(-mean(error^2 / std^2)) over the selected joints.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • params (object)

Return type:

ndarray

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

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any