unilab.tasks.locomotion.g1.manager_terms.G1WalkResetOwnerCfg

class unilab.tasks.locomotion.g1.manager_terms.G1WalkResetOwnerCfg[source]

Bases: ResetOwnerCfg

Fuse the selected-reset lifecycle for the canonical G1 walk command.

Parameters:

  • func (Any)

  • params (dict[str, Any])

  • command_name (str)

  • owns_command_reset (bool)

  • owns_action_reset (bool)

  • owns_observation_reset (bool)

  • owns_metric_reset (bool)

Methods

__init__(func[, params, command_name, ...])

Attributes

command_name

owns_action_reset

owns_command_reset

owns_metric_reset

owns_observation_reset

If True, the owner replaces ObservationManager.reset for the selected rows.

func

The callable that computes this term's value.

params

Additional keyword arguments passed to func when called.
command_name: str = 'twist'
owns_observation_reset: bool = False

If True, the owner replaces ObservationManager.reset for the selected rows. The bypass does not cover manager-owned temporal state: delay/history buffers are not cleared, so reset rows keep their previous episode’s delay lag, step counter, and phase schedule (nothing is resampled), and the observation cache is not invalidated — a compute(update_history=False) caller between the reset and the next step reads pre-reset values. Owners enabling this bypass must reset that temporal state themselves (see the publicly exported CircularBuffer/DelayBuffer).

__init__(func, params=<factory>, *, command_name='twist', owns_command_reset=True, owns_action_reset=True, owns_observation_reset=False, owns_metric_reset=True)
Parameters:

  • func (Any)

  • params (dict[str, Any])

  • command_name (str)

  • owns_command_reset (bool)

  • owns_action_reset (bool)

  • owns_observation_reset (bool)

  • owns_metric_reset (bool)

owns_action_reset: bool = True
owns_command_reset: bool = True
owns_metric_reset: bool = True
func: Any

The callable that computes this term’s value. Can be a function or a class. Classes are auto-instantiated with (cfg=term_cfg, env=env).

params: dict[str, Any]

Additional keyword arguments passed to func when called.