unilab.tasks.manipulation.stewart.balance.StewartTiltActionCfg

class unilab.tasks.manipulation.stewart.balance.StewartTiltActionCfg[source]

Bases: ActionTermCfg

Two-axis tilt action converted to six Stewart actuator targets.

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).

actuator_names

top_body_name

ball_body_name

leg_body_names

top_connect_body_names

raw_action_clip

target_rotation_limit_deg

action_smooth

center_control_radius

center_control_min_gain

entity_name

Name of the entity in the scene that this action term controls.
actuator_names: tuple[str, ...] | list[str]
top_body_name: str
ball_body_name: str
leg_body_names: tuple[str, ...] | list[str]
top_connect_body_names: tuple[str, ...] | list[str]
raw_action_clip: tuple[float, float] | list[float]
target_rotation_limit_deg: float
action_smooth: float
center_control_radius: float
center_control_min_gain: float
build(env)[source]

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

StewartTiltAction

__init__(*, entity_name, clip=None, actuator_names, top_body_name, ball_body_name, leg_body_names, top_connect_body_names, raw_action_clip, target_rotation_limit_deg, action_smooth, center_control_radius, center_control_min_gain)
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.