unilab.tasks.locomotion.g1.manager_terms.G1GaitPhase

class unilab.tasks.locomotion.g1.manager_terms.G1GaitPhase[source]

Bases: ManagerTermBase

Two-foot gait phase observation in radians, with per-reset phase sampling.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

Methods

__init__(cfg, env)

reset([env_ids])

Resets the manager term.

Attributes

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_G1Env)

  • params (Any)

Return type:

ndarray

reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

property name: str
property num_envs: int