unilab.tasks.locomotion.common.gait_terms.feet_clearance¶
- unilab.tasks.locomotion.common.gait_terms.feet_clearance(env, target_height, 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]¶
Penalize clearance-height deviation weighted by planar foot velocity.
Mirrors mjlab
feet_clearancewith foot heights taken from world-frame foot body z (exact on flat terrain) instead of a terrain height sensor.