unilab.tasks.locomotion.g1.manager_terms.G1WalkTerminationPack

class unilab.tasks.locomotion.g1.manager_terms.G1WalkTerminationPack[source]

Bases: ManagerTermBase

Evaluate the canonical G1 walk failure terms in one carrier read.

Parameters:

Methods

__init__(cfg, env)

reset(env_ids)

Row boundary for the stateless termination pack.

Attributes

entity_name

name

num_envs

returns_transient_tensor

tensor_body_names

tensor_sensor_names

returns_transient_tensor = True
__init__(cfg, env)[source]
Parameters:
property tensor_sensor_names: tuple[str, ...]
property tensor_body_names: tuple[str, ...]
property entity_name: str
reset(env_ids)[source]

Row boundary for the stateless termination pack.

Parameters:

env_ids (Tensor)

Return type:

None

__call__(env)[source]

Returns the value of the term required by the manager.

Parameters:

env (_G1Env)

Return type:

Tensor

property name: str
property num_envs: int