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unilab.tasks.locomotion.g1.manager_terms.G1WalkTerminationPackCfg

class unilab.tasks.locomotion.g1.manager_terms.G1WalkTerminationPackCfg

Bases: TerminationTermCfg

Fused canonical G1 walk timeout, tilt, and height termination.

Parameters:

• func (Any)

• params (dict[str, Any])

• time_out (bool)

• entity_name (str)

• root_body_name (str)

• max_tilt_deg (float)

• minimum_height (float)

Methods

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

Attributes

entity_name
max_tilt_deg
minimum_height
root_body_name
time_out	Whether the term contributes towards episodic timeouts.
func	The callable that computes this term's value.
params	Additional keyword arguments passed to func when called.

entity_name: str = 'robot'

root_body_name: str = 'pelvis'

max_tilt_deg: float = 65.0

minimum_height: float = 0.3

__init__(func, params=<factory>, time_out=False, *, entity_name='robot', root_body_name='pelvis', max_tilt_deg=65.0, minimum_height=0.3)

Parameters:

• func (Any)

• params (dict[str, Any])

• time_out (bool)

• entity_name (str)

• root_body_name (str)

• max_tilt_deg (float)

• minimum_height (float)

time_out: bool = False

Whether the term contributes towards episodic timeouts.

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.