Language Language English 简体中文

unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroIncrementalPositionActionCfg

class unilab.tasks.manipulation.allegro_inhand.manager_terms.AllegroIncrementalPositionActionCfg

Bases: ActionTermCfg

Incremental position targets used by the original Allegro policy.

Parameters:

• entity_name (str)

• clip (dict[str, tuple] | None)

• actuator_names (tuple[str, ...] | list[str])

• action_scale (float)

• raw_action_clip (tuple[float, float] | list[float])

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).
actuator_names
action_scale
raw_action_clip
entity_name	Name of the entity in the scene that this action term controls.

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

action_scale: float

raw_action_clip: tuple[float, float] | list[float]

build(env)

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

AllegroIncrementalPositionAction

__init__(*, entity_name, clip=None, actuator_names, action_scale, raw_action_clip)

Parameters:

• entity_name (str)

• clip (dict[str, tuple] | None)

• actuator_names (tuple[str, ...] | list[str])

• action_scale (float)

• raw_action_clip (tuple[float, float] | list[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.

entity_name: str

Name of the entity in the scene that this action term controls.