unilab.envs.mdp.actions.actions.RelativeJointPositionAction

class unilab.envs.mdp.actions.actions.RelativeJointPositionAction[source]

Bases: BaseAction

Control joints via position targets relative to current positions.

Parameters:

Methods

__init__(cfg, env)

apply_actions()

process_actions(actions)

reset([env_ids])

Resets the manager term.

Attributes

action_dim

name

num_envs

offset

processed_action

raw_action

requires_substep_state_feedback

Whether apply_actions needs state produced by the previous physics substep.

scale

target_ids

target_names

cfg

apply_actions()[source]
Return type:

None

__call__(*args, **kwargs)

Returns the value of the term required by the manager.

Return type:

Any

__init__(cfg, env)
Parameters:
property action_dim: int
property name: str
property num_envs: int
property offset: float | ndarray
process_actions(actions)
Parameters:

actions (ndarray)

Return type:

None

property processed_action: ndarray
property raw_action: ndarray
requires_substep_state_feedback: ClassVar[bool] = False

Whether apply_actions needs state produced by the previous physics substep.

False declares that the generated control is invariant across all physics substeps in one control step, so the env may apply it once before a batched backend step. State-feedback terms must override this declaration with True.

reset(env_ids=None)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

property scale: float | ndarray
property target_ids: ndarray
property target_names: list[str]
cfg: BaseActionCfg