unilab.tasks.locomotion.common.gait_terms.self_collision_cost

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

Bases: _FootContactTerm

Count monitored self-collision geom pairs reporting contact.

Mirrors mjlab self_collision_cost in its found-count form: each sensor group binds one contact sensor watching a geom pair, and the cost is the number of pairs with an active contact. mjlab’s force_threshold only applies when the sensor records force history, which the upstream config does not enable, so it is not ported.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

num_feet

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • params (Any)

Return type:

ndarray

__init__(cfg, env)
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

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