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unilab.tasks.locomotion.common.gait_terms.foot_height

unilab.tasks.locomotion.common.gait_terms.foot_height(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))

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:

• env (ManagerBasedRlEnv)

• asset_cfg (SceneEntityCfg)

Return type:

ndarray