Terminations

Manager: TerminationManager · Module: env/mdp/terminations.py

Terms

Term	Condition
time_out	Episode horizon exceeded
anchor_pos / anchor_ori	Anchor body drift from reference (thresholds set in preset / robot cfg)
ee_body_pos	z-only error on end-effector bodies (body tuple from preset)
keybody_ground_contact_force	Catastrophic ground contact on motion keybodies

Presets enable thresholds and body sets; the callables are shared. For example, apply_wbc adds EE height termination; apply_zest removes it.

API: MDP terms (Terminations).

Related: Rewards, The robot entity.