isaaclab_contrib.mdp

Actions

Classes

ThrustActionCfg	Configuration for the thrust action term.
ThrustAction	Thrust action term that applies the processed actions as thrust commands.

Thrust Action Configuration

class isaaclab_contrib.mdp.actions.thrust_actions_cfg.ThrustActionCfg

Bases: ActionTermCfg

Configuration for the thrust action term.

See ThrustAction for more details.

Attributes:

asset_name	Name or regex expression of the asset that the action will be mapped to.
scale	Scale factor for the action (float or dict of regex expressions).
debug_vis	Whether to visualize debug information.
clip	Clip range for the action (dict of regex expressions).
offset	Offset factor for the action (float or dict of regex expressions).
preserve_order	Whether to preserve the order of the asset names in the action output.
use_default_offset	Whether to use default thrust (e.g.

asset_name: str

Name or regex expression of the asset that the action will be mapped to.

scale: float | dict[str, float]

Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.

debug_vis: bool

Whether to visualize debug information. Defaults to False.

clip: dict[str, tuple] | None

Clip range for the action (dict of regex expressions). Defaults to None.

offset: float | dict[str, float]

Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.

preserve_order: bool

Whether to preserve the order of the asset names in the action output. Defaults to False.

use_default_offset: bool

Whether to use default thrust (e.g. hover thrust) configured in the articulation asset as offset. Defaults to True.

If True, this flag results in overwriting the values of offset to the default thrust values from the articulation asset.

Thrust Action Implementation

class isaaclab_contrib.mdp.actions.thrust_actions.ThrustAction

Bases: ActionTerm

Thrust action term that applies the processed actions as thrust commands. Actions are processed by applying an affine transformation (scaling and offset) and clipping.

Attributes:

cfg	The configuration of the action term.
device	Device on which to perform computations.
export_IO_descriptor	Whether to export the IO descriptor for the action term.
has_debug_vis_implementation	Whether the action term has a debug visualization implemented.
num_envs	Number of environments.
action_dim	Dimension of the action term.
raw_actions	The input/raw actions sent to the term.
processed_actions	The actions computed by the term after applying any processing.
IO_descriptor	The IO descriptor of the action term.

Methods:

__init__(cfg, env)	Initialize the action term.
serialize()	General serialization call.
set_debug_vis(debug_vis)	Sets whether to visualize the action term data.
process_actions(actions)	Process actions by applying scaling, offset, and clipping.
apply_actions()	Apply the processed actions as thrust commands.
reset([env_ids])	Reset the action term.

cfg: thrust_actions_cfg.ThrustActionCfg

The configuration of the action term.

__init__(cfg: thrust_actions_cfg.ThrustActionCfg, env: ManagerBasedEnv) → None

Initialize the action term.

Parameters:

• cfg – The configuration object.

• env – The environment instance.

property device: str

Device on which to perform computations.

property export_IO_descriptor: bool

Whether to export the IO descriptor for the action term.

property has_debug_vis_implementation: bool

Whether the action term has a debug visualization implemented.

property num_envs: int

Number of environments.

serialize() → dict

General serialization call. Includes the configuration dict.

set_debug_vis(debug_vis: bool) → bool

Sets whether to visualize the action term data. :param debug_vis: Whether to visualize the action term data.

Returns:

Whether the debug visualization was successfully set. False if the action term does not support debug visualization.

property action_dim: int

Dimension of the action term.

property raw_actions: torch.Tensor

The input/raw actions sent to the term.

property processed_actions: torch.Tensor

The actions computed by the term after applying any processing.

property IO_descriptor: GenericActionIODescriptor

The IO descriptor of the action term.

process_actions(actions: torch.Tensor)

Process actions by applying scaling, offset, and clipping.

apply_actions()

Apply the processed actions as thrust commands.

reset(env_ids: Sequence[int] | None = None) → None

Reset the action term.