unilab.tasks.locomotion.common.gait_terms.foot_air_time

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

Bases: _FootContactTerm

Current per-foot air time in seconds, shape (num_envs, num_feet).

Mirrors mjlab foot_air_time (ContactSensor.data.current_air_time): the timer accumulates env.step_dt while the foot has no contact and resets to zero on contact.

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, ...]