make the term name look up to be O(1) rather than O(n) list look up

Author: ooctipus

source/isaaclab/isaaclab/managers/termination_manager.py

@@ -55,6 +55,7 @@ def __init__(self, cfg: object, env: ManagerBasedRLEnv):
         """
         # create buffers to parse and store terms
         self._term_names: list[str] = list()
+        self._term_name_to_term_idx = {name: i for i, name in enumerate(self._term_names)}
         self._term_cfgs: list[TerminationTermCfg] = list()
         self._class_term_cfgs: list[TerminationTermCfg] = list()
 
@@ -234,7 +235,7 @@ def get_term_cfg(self, term_name: str) -> TerminationTermCfg:
         if term_name not in self._term_names:
             raise ValueError(f"Termination term '{term_name}' not found.")
         # return the configuration
-        return self._term_cfgs[self._term_names.index(term_name)]
+        return self._term_cfgs[self._term_name_to_term_idx[term_name]]
 
     """
     Helper functions.