unilab.tasks.manipulation.stewart

class unilab.tasks.manipulation.stewart.StewartBalanceState[source]

Bases: ManagerTermBase

Termination-owned progress, stillness, success, and fall state.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_StewartEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_StewartEnv)

property last_counter: int
reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

class unilab.tasks.manipulation.stewart.StewartBallReset[source]

Bases: ManagerTermBase

Sample the ball uniformly within a disk via root-state entity writes.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

class unilab.tasks.manipulation.stewart.StewartObservation[source]

Bases: ManagerTermBase

Legacy 15-D observation with per-environment filtered finite differences.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_StewartEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_StewartEnv)

property relative_xy: ndarray
property velocity_xy: ndarray
property ball_pos: ndarray
reset(env_ids=None)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

snapshot(env)[source]
Parameters:

env (_StewartEnv)

Return type:

ndarray

class unilab.tasks.manipulation.stewart.StewartTiltAction[source]

Bases: ActionTerm

Vectorized tilt IK using only the public entity state/control facade.

Parameters:
cfg: StewartTiltActionCfg
__init__(cfg, env)[source]
Parameters:
property action_dim: int
property raw_action: ndarray
property executed_action: ndarray
property target_tilt_deg: ndarray
property neutral_leg_lengths: ndarray
leg_control_for_tilt(target_tilt_rad)[source]

Return six actuator controls for (roll, pitch) radians.

Parameters:

target_tilt_rad (ndarray)

Return type:

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

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

Bases: ActionTermCfg

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

Parameters:
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:

Modules

balance

Manager-Based terms for Stewart-platform ball balancing.