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unilab.envs.mdp.actions.actions.BaseActionCfg

class unilab.envs.mdp.actions.actions.BaseActionCfg

Bases: ActionTermCfg

Configuration shared by entity joint actions.

Parameters:

• entity_name (str)

• clip (dict[str, tuple] | None)

• actuator_names (tuple[str, ...] | list[str])

• scale (float | dict[str, float])

• offset (float | dict[str, float])

• preserve_order (bool)

Methods

__init__(*, entity_name[, clip, scale, ...])
build(env)	Build the action term from this config.

Attributes

clip	Optional clipping bounds applied to processed actions (after scale and offset).
offset
preserve_order
scale
actuator_names
entity_name	Name of the entity in the scene that this action term controls.

actuator_names: tuple[str, ...] | list[str]

scale: float | dict[str, float] = 1.0

offset: float | dict[str, float] = 0.0

preserve_order: bool = False

__init__(*, entity_name, clip=None, actuator_names, scale=1.0, offset=0.0, preserve_order=False)

Parameters:

• entity_name (str)

• clip (dict[str, tuple] | None)

• actuator_names (tuple[str, ...] | list[str])

• scale (float | dict[str, float])

• offset (float | dict[str, float])

• preserve_order (bool)

abstract build(env)

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

ActionTerm

clip: dict[str, tuple] | None = None

Optional clipping bounds applied to processed actions (after scale and offset). Dict maps actuator name regex patterns to (min, max) tuples, resolved the same way as scale and offset.

entity_name: str

Name of the entity in the scene that this action term controls.