unilab.tasks.locomotion.common.manager_terms.feet_phase_swing_height

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

Bases: _FootSensorTerm

Reward foot height near a target during the configured swing phase.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_GaitEnv)

Methods

__init__(cfg, env)

Attributes

name

num_envs

tensor_sensor_names

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_GaitEnv)

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_GaitEnv)

  • params (Any)

Return type:

Tensor

property name: str
property num_envs: int
property tensor_sensor_names: tuple[str, ...]