unilab.tasks.locomotion.go2.footstand.FootstandMassRandomization

class unilab.tasks.locomotion.go2.footstand.FootstandMassRandomization[source]

Bases: ManagerTermBase

Compose all-link mass scaling and torso additive mass in one reset write.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__call__(env, env_ids, **params)[source]

Returns the value of the term required by the manager.

Parameters:
Return type:

None

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

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any