unilab.tasks.motion_tracking.g1.manager_terms.joint_torque_l2

class unilab.tasks.motion_tracking.g1.manager_terms.joint_torque_l2[source]

Bases: ManagerTermBase

Position-controller torque estimate using cold-path actuator gain binding.

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, action_name='joint_pos', 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))[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • action_name (str)

  • asset_cfg (SceneEntityCfg)

Return type:

ndarray

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

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any