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unilab.envs.mdp.actions

Built-in action terms supported by the NumPy runtime.

class unilab.envs.mdp.actions.JointEffortAction

Bases: BaseAction

Control joints via effort targets.

Parameters:

• cfg (BaseActionCfg)

• env (ManagerBasedRlEnv)

apply_actions()

Return type:

None

class unilab.envs.mdp.actions.JointEffortActionCfg

Bases: BaseActionCfg

Configuration for joint effort (torque) control.

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)

build(env)

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

JointEffortAction

__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)

class unilab.envs.mdp.actions.JointPositionAction

Bases: BaseAction

Convert policy actions into entity joint-position targets.

Parameters:

• cfg (JointPositionActionCfg)

• env (ManagerBasedRlEnv)

cfg: JointPositionActionCfg

__init__(cfg, env)

Parameters:

• cfg (JointPositionActionCfg)

• env (ManagerBasedRlEnv)

apply_actions()

Return type:

None

class unilab.envs.mdp.actions.JointPositionActionCfg

Bases: BaseActionCfg

Configuration for joint-position control.

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)

• use_default_offset (bool)

use_default_offset: bool = True

build(env)

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

JointPositionAction

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

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)

• use_default_offset (bool)

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

entity_name: str

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

class unilab.envs.mdp.actions.JointVelocityAction

Bases: BaseAction

Control joints via velocity targets.

Parameters:

• cfg (JointVelocityActionCfg)

• env (ManagerBasedRlEnv)

__init__(cfg, env)

Parameters:

• cfg (JointVelocityActionCfg)

• env (ManagerBasedRlEnv)

apply_actions()

Return type:

None

class unilab.envs.mdp.actions.JointVelocityActionCfg

Bases: BaseActionCfg

Configuration for joint velocity control.

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)

• use_default_offset (bool)

use_default_offset: bool = True

build(env)

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

JointVelocityAction

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

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)

• use_default_offset (bool)

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

entity_name: str

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

class unilab.envs.mdp.actions.RelativeJointPositionAction

Bases: BaseAction

Control joints via position targets relative to current positions.

Parameters:

• cfg (BaseActionCfg)

• env (ManagerBasedRlEnv)

apply_actions()

Return type:

None

class unilab.envs.mdp.actions.RelativeJointPositionActionCfg

Bases: BaseActionCfg

Joint position targets relative to the current measured position.

target = current_joint_pos + action * scale. A fixed offset has no useful meaning for this transmission and is rejected during construction.

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)

build(env)

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

RelativeJointPositionAction

__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)

Modules

actions

Joint transmission actions for the NumPy Manager-Based runtime.