unilab.tasks.locomotion.common.manager_terms.feet_air_while_standing

class unilab.tasks.locomotion.common.manager_terms.feet_air_while_standing[source]

Bases: ManagerTermBase

Count feet without contact while the configured velocity command is standing.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

Attributes

name

num_envs

tensor_sensor_names

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

property tensor_sensor_names: tuple[str, ...]
__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • params (Any)

Return type:

Tensor

property name: str
property num_envs: int