unilab.tasks.locomotion.go2w.manager_terms.Go2WMixedActionCfg

class unilab.tasks.locomotion.go2w.manager_terms.Go2WMixedActionCfg[source]

Bases: ActionTermCfg

Configure the Go2W leg-position and wheel-velocity motor action.

Parameters:

Methods

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

build(env)

Build the action term from this config.

Attributes

clip

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

clip_actions

hip_action_scale

leg_action_scale

leg_kd

leg_kp

simulate_action_latency

wheel_action_scale

wheel_kd

actuator_names

entity_name

Name of the entity in the scene that this action term controls.
actuator_names: tuple[str, ...] | list[str]
leg_action_scale: float = 0.25
hip_action_scale: float | None = None
wheel_action_scale: float = 10.0
leg_kp: float = 35.0
leg_kd: float = 0.5
wheel_kd: float = 0.5
clip_actions: float = 1.0
simulate_action_latency: bool = False
build(env)[source]

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

Go2WMixedAction

__init__(*, entity_name, clip=None, actuator_names, leg_action_scale=0.25, hip_action_scale=None, wheel_action_scale=10.0, leg_kp=35.0, leg_kd=0.5, wheel_kd=0.5, clip_actions=1.0, 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.