Language

unilab.tasks.locomotion.go2.footstand.FootstandState¶

class unilab.tasks.locomotion.go2.footstand.FootstandState[source]¶

Bases: object

One per-control-step snapshot shared by termination, reward, and observations.

Parameters:

env (_FootstandEnv)
action (FootstandIncrementalAction)

Methods

`__init__`(env, action)
`frame`(env)
`privileged`(env)
`reset`(env_ids)
`snapshot`(env)

Attributes

`action`
`default_joint_pos`
`last_counter`

__init__(env, action)[source]¶

Parameters:

env (_FootstandEnv)
action (FootstandIncrementalAction)

property last_counter: int¶

property default_joint_pos: ndarray¶

property action: FootstandIncrementalAction¶

reset(env_ids)[source]¶

Parameters:: env_ids (ndarray)
Return type:: None

snapshot(env)[source]¶

Parameters:: env (_FootstandEnv)
Return type:: FootstandState

frame(env)[source]¶

Parameters:: env (_FootstandEnv)
Return type:: ndarray

privileged(env)[source]¶

Parameters:: env (_FootstandEnv)
Return type:: ndarray