unilab.tasks.locomotion.common.gait_terms.foot_height

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

Bases: ManagerTermBase

Per-foot vertical clearance above the terrain, shape (num_envs, num_feet).

mjlab reads this from a TerrainHeightSensor ring around each foot; the UniLab port returns the world-frame foot body z, which is identical on flat terrain.

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, 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)

  • asset_cfg (SceneEntityCfg)

Return type:

Tensor

property name: str
property num_envs: int