unilab.tasks.locomotion.go2.footstand.FootstandIncrementalAction

class unilab.tasks.locomotion.go2.footstand.FootstandIncrementalAction[source]

Bases: ActionTerm

Integrate clipped policy deltas and write position targets each substep.

Parameters:

Methods

__init__(cfg, env)

apply_actions()

estimate_torque(joint_pos, joint_vel, out)

process_actions(actions)

reset([env_ids])

Resets the manager term.

Attributes

action_dim

actuator_names

entity

estimated_torque

joint_ids

joint_lower

joint_names

joint_upper

name

num_envs

previous_raw_action

raw_action

requires_substep_state_feedback

Whether apply_actions needs state produced by the previous physics substep.

state

target

cfg

cfg: FootstandIncrementalActionCfg
__init__(cfg, env)[source]
Parameters:
property action_dim: int
property raw_action: ndarray
property previous_raw_action: ndarray
property target: ndarray
property joint_ids: ndarray
property joint_names: tuple[str, ...]
property actuator_names: tuple[str, ...]
property joint_lower: ndarray
property joint_upper: ndarray
property state: FootstandState
property entity: Entity
property estimated_torque: ndarray
process_actions(actions)[source]
Parameters:

actions (ndarray)

Return type:

None

apply_actions()[source]
Return type:

None

estimate_torque(joint_pos, joint_vel, out)[source]
Parameters:
Return type:

None

reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

__call__(*args, **kwargs)

Returns the value of the term required by the manager.

Return type:

Any

property name: str
property num_envs: int
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.