unilab.tasks.motion_tracking.common.manager_terms.MotionJointPositionActionCfg

class unilab.tasks.motion_tracking.common.manager_terms.MotionJointPositionActionCfg[source]

Bases: JointPositionActionCfg

MotionJointPositionActionCfg(*, entity_name: ‘str’, clip: ‘dict[str, tuple] | None’ = None, actuator_names: ‘tuple[str, …] | list[str]’, scale: ‘float | dict[str, float]’ = 1.0, offset: ‘float | dict[str, float]’ = 0.0, preserve_order: ‘bool’ = False, use_default_offset: ‘bool’ = True, command_name: ‘str’ = ‘motion’, simulate_action_latency: ‘bool’ = False)

Parameters:

Methods

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

build(env)

Build the action term from this config.

Attributes

clip

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

command_name

offset

preserve_order

scale

simulate_action_latency

use_default_offset

actuator_names

entity_name

Name of the entity in the scene that this action term controls.
command_name: str = 'motion'
simulate_action_latency: bool = False
build(env)[source]

Build the action term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

MotionJointPositionAction

__init__(*, entity_name, clip=None, actuator_names, scale=1.0, offset=0.0, preserve_order=False, use_default_offset=True, command_name='motion', 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.

offset: float | dict[str, float] = 0.0
preserve_order: bool = False
scale: float | dict[str, float] = 1.0
use_default_offset: bool = True
actuator_names: tuple[str, ...] | list[str]
entity_name: str

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