unilab.tasks.locomotion.g1.manager_terms.feet_phase

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

Bases: _GaitRewardTerm

Reward gait phase tracking by encouraging the expected swing-foot height.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_G1Env)

  • params (Any)

Return type:

ndarray

__init__(cfg, env)
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

property name: str
property num_envs: int
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any