unilab.tasks.locomotion.common.sensor_reward_terms

Sensor-driven reward terms shared by Manager-Based locomotion families.

Biped and quadruped locomotion families port legacy reward equations that read IMU-style XML sensors by name. This module owns those equations once, on top of the SensorTermBase cold-path binding contract from manager_terms.py: the robot’s sensor name is a cfg parameter (params={"sensor_name": ...}), so each family binds its own sensors from its owner YAML instead of subclassing. Plain action/state penalties and the shared term bases live in manager_terms.py.

Classes

ang_vel_xy

Penalty for roll/pitch angular velocity.

lin_vel_z

Penalty for vertical (z) linear velocity.

orientation

Penalty for deviation from upright (horizontal upvector components).

track_ang_vel

Exponential reward for tracking commanded yaw angular velocity.

track_lin_vel

Exponential reward for tracking commanded xy linear velocity.
class unilab.tasks.locomotion.common.sensor_reward_terms.ang_vel_xy[source]

Bases: _Vec3SensorTerm

Penalty for roll/pitch angular velocity.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.common.sensor_reward_terms.lin_vel_z[source]

Bases: _Vec3SensorTerm

Penalty for vertical (z) linear velocity.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.common.sensor_reward_terms.orientation[source]

Bases: _Vec3SensorTerm

Penalty for deviation from upright (horizontal upvector components).

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.common.sensor_reward_terms.track_ang_vel[source]

Bases: _CommandTrackingTerm

Exponential reward for tracking commanded yaw angular velocity.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.locomotion.common.sensor_reward_terms.track_lin_vel[source]

Bases: _CommandTrackingTerm

Exponential reward for tracking commanded xy linear velocity.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)