unilab.envs.mdp.rewards.variable_posture

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

Bases: ManagerTermBase

posture with speed-dependent tolerance: standing/walking/running std maps.

The per-joint std is selected from std_standing / std_walking / std_running by the total command speed (planar norm plus yaw magnitude) against walking_threshold and running_threshold.

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