unilab.tasks.locomotion.g1.manager_terms.g1_base_height_below_minimum

class unilab.tasks.locomotion.g1.manager_terms.g1_base_height_below_minimum[source]

Bases: ManagerTermBase

Terminate when root height drops below the task threshold.

Declaring the root body lets the packed device-resident read phase serve this term without the retired NumPy body-state facade or a full host cache refresh.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

Methods

__init__(cfg, env)

Attributes

entity_name

name

num_envs

tensor_body_names

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

property tensor_body_names: tuple[str, ...]
property entity_name: str
__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_G1Env)

  • params (Any)

Return type:

Tensor

property name: str
property num_envs: int