unilab.tasks.locomotion.g1.manager_terms.penalty_feet_ori

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

Bases: _SensorTerm

Penalty for non-flat foot orientations (roll/pitch quaternion rows).

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Row boundary for stateless sensor terms.

Attributes

name

num_envs

tensor_sensor_names

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

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

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • params (Any)

Return type:

Tensor

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

Row boundary for stateless sensor terms.

Parameters:

env_ids (Tensor)

Return type:

None