unilab.tasks.locomotion.common.manager_terms.joint_deviation_l1

class unilab.tasks.locomotion.common.manager_terms.joint_deviation_l1[source]

Bases: ManagerTermBase

Penalize selected joint displacement from the default pose with an L1 kernel.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

Attributes

name

num_envs

tensor_state_entity

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

property tensor_state_entity: str
__call__(env, command_name='twist', command_threshold=0.1, 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)

  • command_name (str)

  • command_threshold (float)

  • asset_cfg (SceneEntityCfg)

Return type:

Tensor

property name: str
property num_envs: int