Source code for isaaclab_experimental.envs.mdp.actions.actions_cfg

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from __future__ import annotations

from dataclasses import MISSING
from typing import TYPE_CHECKING

from isaaclab.utils.configclass import configclass

from isaaclab_experimental.managers.manager_term_cfg import ActionTermCfg

if TYPE_CHECKING:
    from .joint_actions import JointEffortAction, JointPositionAction

##
# Joint actions.
##




@configclass
class JointActionCfg(ActionTermCfg):
    """Configuration for the base joint action term.

    See :class:`JointAction` for more details.
    """

    joint_names: list[str] = MISSING
    """List of joint names or regex expressions that the action will be mapped to."""
    scale: float | dict[str, float] = 1.0
    """Scale factor for the action (float or dict of regex expressions). Defaults to 1.0."""
    offset: float | dict[str, float] = 0.0
    """Offset factor for the action (float or dict of regex expressions). Defaults to 0.0."""
    preserve_order: bool = False
    """Whether to preserve the order of the joint names in the action output. Defaults to False."""





@configclass
class JointPositionActionCfg(JointActionCfg):
    """Configuration for the joint position action term.

    See :class:`JointPositionAction` for more details.
    """

    class_type: type[JointPositionAction] | str = "{DIR}.joint_actions:JointPositionAction"

    use_default_offset: bool = True
    """Whether to use default joint positions configured in the articulation asset as offset.
    Defaults to True.

    If True, this flag results in overwriting the values of :attr:`offset` to the default joint positions
    from the articulation asset.
    """





@configclass
class JointEffortActionCfg(JointActionCfg):
    """Configuration for the joint effort action term.

    See :class:`JointEffortAction` for more details.
    """

    class_type: type[JointEffortAction] | str = "{DIR}.joint_actions:JointEffortAction"