unilab.tasks.locomotion.g1.manager_terms.upper_body_pose

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

Bases: weighted_pose

Weighted L2 pose penalty with the twelve leg joints zeroed out.

Parameters:

  • cfg (RewardTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Attributes

name

num_envs

tensor_state_entity

__init__(cfg, env)[source]
Parameters:

  • cfg (RewardTermCfg)

  • env (ManagerBasedRlEnv)

__call__(env, pose_weights, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • pose_weights (Any)

  • asset_cfg (SceneEntityCfg)

Return type:

Tensor

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

env_ids (Tensor)

Return type:

None

property tensor_state_entity: str