unilab.tasks.locomotion.common.gait_terms.feet_clearance

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

Bases: ManagerTermBase

Penalize clearance-height deviation weighted by planar foot velocity.

Mirrors mjlab feet_clearance with foot heights taken from world-frame foot body z (exact on flat terrain) instead of a terrain height sensor.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

Attributes

entity_name

name

num_envs

tensor_body_names

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

property tensor_body_names: tuple[str, ...]
property entity_name: str
__call__(env, target_height=0.1, command_name=None, command_threshold=0.01, 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:

  • env (ManagerBasedRlEnv)

  • target_height (float)

  • command_name (str | None)

  • command_threshold (float)

  • asset_cfg (SceneEntityCfg)

Return type:

Tensor

property name: str
property num_envs: int