unilab.tasks.locomotion.go2.footstand.FootstandTermination

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

Bases: ManagerTermBase

Aggregate the historical non-timeout termination state before rewards.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset([env_ids])

Resets the manager term.

Attributes

last_counter

name

num_envs

state

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

property state: FootstandState
property last_counter: int
reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

__call__(env, **params)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (_FootstandEnv)

  • params (Any)

Return type:

ndarray

property name: str
property num_envs: int