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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)	Row boundary for stateless sensor terms.

Attributes

`entity_name`
`name`
`num_envs`
`num_feet`
`tensor_body_names`
`tensor_sensor_names`

__init__(cfg, env)[source]¶

Parameters:

cfg (ManagerTermBaseCfg)
env (ManagerBasedRlEnv)

reset(env_ids)[source]¶

Row boundary for stateless sensor terms.

Parameters:: env_ids (Tensor)
Return type:: None

__call__(env, **params)[source]¶

Returns the value of the term required by the manager.

Parameters:

env (ManagerBasedRlEnv)
params (Any)

Return type:

Tensor

property entity_name: str¶

property name: str¶

property num_envs: int¶

property num_feet: int¶

property tensor_body_names: tuple[str, ...]¶

property tensor_sensor_names: tuple[str, ...]¶