unilab.tasks.locomotion.go2.footstand.FootstandIncrementalActionCfg

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

Bases: ActionTermCfg

Incremental position action in the historical actuator/policy order.

Parameters:

Methods

__init__(*, entity_name[, clip, ...])

build(env)

Build the action term from this config.

Attributes

action_scale

clip

Optional clipping bounds applied to processed actions (after scale and offset).

clip_actions

kd

kp

simulate_action_latency

actuator_names

joint_names

joint_position_limits

entity_name

Name of the entity in the scene that this action term controls.
actuator_names: tuple[str, ...] | list[str]
joint_names: tuple[str, ...] | list[str]
joint_position_limits: tuple[tuple[float, float], ...] | list[list[float]]
action_scale: float = 0.3
clip_actions: float = 1.0
kp: float = 35.0
kd: float = 0.5
simulate_action_latency: bool = False
build(env)[source]

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

FootstandIncrementalAction

__init__(*, entity_name, clip=None, actuator_names, joint_names, joint_position_limits, action_scale=0.3, clip_actions=1.0, kp=35.0, kd=0.5, simulate_action_latency=False)
Parameters:
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.