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unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroIncrementalPositionAction¶

class unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroIncrementalPositionAction[source]¶

Bases: ActionTerm

Integrate clipped policy deltas into bounded hand-joint targets.

Parameters:

cfg (AllegroIncrementalPositionActionCfg)
env (ManagerBasedRlEnv)

Methods

`__init__`(cfg, env)
`apply_actions`()
`process_actions`(actions)
`reset`([env_ids])	Resets the manager term.

Attributes

`action_dim`
`ctrl_lower`
`ctrl_upper`
`joint_ids`
`name`
`num_envs`
`raw_action`
`requires_substep_state_feedback`	Whether `apply_actions` needs state produced by the previous physics substep.
`target`
`cfg`

cfg: AllegroIncrementalPositionActionCfg¶

__init__(cfg, env)[source]¶

Parameters:

cfg (AllegroIncrementalPositionActionCfg)
env (ManagerBasedRlEnv)

property action_dim: int¶

property raw_action: ndarray¶

property target: ndarray¶

property ctrl_lower: ndarray¶

property ctrl_upper: ndarray¶

property joint_ids: ndarray¶

process_actions(actions)[source]¶

Parameters:: actions (ndarray)
Return type:: None

apply_actions()[source]¶

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.