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unilab.tasks.locomotion.common.rough_manager_terms.RoughJointPositionActionCfg¶

class unilab.tasks.locomotion.common.rough_manager_terms.RoughJointPositionActionCfg[source]¶

Bases: JointPositionActionCfg

Joint-position action with legacy raw-action clipping.

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)
clip_actions (float)

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).
`clip_actions`
`offset`
`preserve_order`
`scale`
`use_default_offset`
`actuator_names`
`entity_name`	Name of the entity in the scene that this action term controls.

clip_actions: float = 100.0¶

build(env)[source]¶

Build the action term from this config.

Parameters:: env (ManagerBasedRlEnv)
Return type:: RoughJointPositionAction

__init__(*, entity_name, clip=None, actuator_names, scale=1.0, offset=0.0, preserve_order=False, use_default_offset=True, clip_actions=100.0)¶

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)
clip_actions (float)

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.

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

preserve_order: bool = False¶

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

use_default_offset: bool = True¶

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

entity_name: str¶: Name of the entity in the scene that this action term controls.