unilab.tasks.locomotion.g1.manager_terms.G1WalkResetOwner

class unilab.tasks.locomotion.g1.manager_terms.G1WalkResetOwner[source]

Bases: ResetOwner

Own the tensor G1 command reset and skip redundant host validations.

The walk command is sampled from bounded Torch uniforms and the G1 dead-zone write is bounded by construction. Re-running the generic full-command finite synchronization after that device-resident transaction only adds a device synchronization on the reset hot path.

Parameters:

Methods

__init__(cfg, env)

reset_committed(env_ids)

Execute reset ownership for the selected envs after commit.

reset_transaction(env_ids)

Execute reset ownership for the selected envs before commit.

Attributes

name

num_envs

cfg

__init__(cfg, env)[source]
Parameters:
reset_transaction(env_ids)[source]

Execute reset ownership for the selected envs before commit.

Parameters:

env_ids (Tensor)

Return type:

dict[str, float]

reset_committed(env_ids)[source]

Execute reset ownership for the selected envs after commit.

Parameters:

env_ids (Tensor)

Return type:

dict[str, float]

__call__(*args, **kwargs)

Returns the value of the term required by the manager.

Return type:

Any

property name: str
property num_envs: int
cfg: ResetOwnerCfg