unilab.tasks.locomotion.common.gait_terms.foot_contact_forces

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

Bases: _FootContactTerm

Log-compressed per-foot contact forces, shape (num_envs, 3 * num_feet).

Mirrors mjlab foot_contact_forces: the per-foot 3-D contact forces are flattened in sensor-group order and compressed as sign(f) * log1p(|f|).

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)

__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
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any