unilab.tasks.locomotion.common.gait_terms.feet_air_time

class unilab.tasks.locomotion.common.gait_terms.feet_air_time[source]

Bases: _FootContactTerm

Count feet whose current air time sits inside the rewarded window.

Mirrors mjlab feet_air_time: air time accumulates env.step_dt while the foot has no contact and resets to zero on contact; a foot scores while threshold_min < air_time < threshold_max. When command_name is set the count is gated by the command gate.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset([env_ids])

Resets the manager term.

Attributes

name

num_envs

num_feet

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • params (Any)

Return type:

ndarray

property name: str
property num_envs: int
property num_feet: int