isaaclab_experimental.envs.mdp.actions

Experimental action terms (Warp-first).

Provides Warp-first action term implementations overriding the stable isaaclab.envs.mdp.actions module.

Symbols are lazily resolved from the __init__.pyi stub so that importing the pure-data action config classes does not eagerly pull in the runtime action term implementations (which depend on a running simulator).

Classes

The following classes are part of the public isaaclab_experimental.envs.mdp.actions API.

JointAction	Base class for joint actions.
JointActionCfg	Configuration for the base joint action term.
JointEffortAction	Joint action term that applies the processed actions to the articulation's joints as effort commands.
JointEffortActionCfg	Configuration for the joint effort action term.
JointPositionAction	Joint action term that applies the processed actions to the articulation's joints as position commands.
JointPositionActionCfg	Configuration for the joint position action term.

class isaaclab_experimental.envs.mdp.actions.JointAction

Bases: ActionTerm

Base class for joint actions.

This action term performs pre-processing of the raw actions using affine transformations (scale and offset). These transformations can be configured to be applied to a subset of the articulation’s joints.

Mathematically, the action term is defined as:

\[\text{action} = \text{offset} + \text{scaling} \times \text{input action}\]

where \(\text{action}\) is the action that is sent to the articulation’s actuated joints, \(\text{offset}\) is the offset applied to the input action, \(\text{scaling}\) is the scaling applied to the input action, and \(\text{input action}\) is the input action from the user.

Based on above, this kind of action transformation ensures that the input and output actions are in the same units and dimensions. The child classes of this action term can then map the output action to a specific desired command of the articulation’s joints (e.g. position, velocity, etc.).

Methods:

__init__(cfg, env)	Initialize the action term.
__new__(*args, **kwargs)

__init__(cfg: actions_cfg.JointActionCfg, env: ManagerBasedEnv) → None

Initialize the action term.

Parameters:

• cfg – The configuration object.

• env – The environment instance.

classmethod __new__(*args, **kwargs)

class isaaclab_experimental.envs.mdp.actions.JointActionCfg

Bases: ActionTermCfg

Configuration for the base joint action term.

See JointAction for more details.

Methods:

__new__(*args, **kwargs)
__init__([class_type, asset_name, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[ActionTerm] = <factory>, asset_name: str = <factory>, debug_vis: bool = <factory>, clip: dict[str, tuple] | None = <factory>, joint_names: list[str] = <factory>, scale: float | dict[str, float] = <factory>, offset: float | dict[str, float] = <factory>, preserve_order: bool = <factory>) → None

class isaaclab_experimental.envs.mdp.actions.JointEffortAction

Bases: JointAction

Joint action term that applies the processed actions to the articulation’s joints as effort commands.

Methods:

__new__(*args, **kwargs)
__init__(cfg, env)	Initialize the action term.

classmethod __new__(*args, **kwargs)

__init__(cfg: actions_cfg.JointEffortActionCfg, env: ManagerBasedEnv)

Initialize the action term.

Parameters:

• cfg – The configuration object.

• env – The environment instance.

class isaaclab_experimental.envs.mdp.actions.JointEffortActionCfg

Bases: JointActionCfg

Configuration for the joint effort action term.

See JointEffortAction for more details.

Methods:

__new__(*args, **kwargs)
__init__([class_type, asset_name, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[JointEffortAction] | str = <factory>, asset_name: str = <factory>, debug_vis: bool = <factory>, clip: dict[str, tuple] | None = <factory>, joint_names: list[str] = <factory>, scale: float | dict[str, float] = <factory>, offset: float | dict[str, float] = <factory>, preserve_order: bool = <factory>) → None

class isaaclab_experimental.envs.mdp.actions.JointPositionAction

Bases: JointAction

Joint action term that applies the processed actions to the articulation’s joints as position commands.

Warp-first override of isaaclab.envs.mdp.actions.JointPositionAction.

Methods:

__new__(*args, **kwargs)
__init__(cfg, env)	Initialize the action term.

classmethod __new__(*args, **kwargs)

__init__(cfg: actions_cfg.JointPositionActionCfg, env: ManagerBasedEnv)

Initialize the action term.

Parameters:

• cfg – The configuration object.

• env – The environment instance.

class isaaclab_experimental.envs.mdp.actions.JointPositionActionCfg

Bases: JointActionCfg

Configuration for the joint position action term.

See JointPositionAction for more details.

Methods:

__new__(*args, **kwargs)
__init__([class_type, asset_name, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[JointPositionAction] | str = <factory>, asset_name: str = <factory>, debug_vis: bool = <factory>, clip: dict[str, tuple] | None = <factory>, joint_names: list[str] = <factory>, scale: float | dict[str, float] = <factory>, offset: float | dict[str, float] = <factory>, preserve_order: bool = <factory>, use_default_offset: bool = <factory>) → None