omni.isaac.lab.envs.mdp.actions.actions_cfg 源代码

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from dataclasses import MISSING

from omni.isaac.lab.controllers import DifferentialIKControllerCfg
from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg
from omni.isaac.lab.utils import configclass

from . import binary_joint_actions, joint_actions, joint_actions_to_limits, non_holonomic_actions, task_space_actions

##
# Joint actions.
##


[文档]@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."""
[文档]@configclass class JointPositionActionCfg(JointActionCfg): """Configuration for the joint position action term. See :class:`JointPositionAction` for more details. """ class_type: type[ActionTerm] = 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. """
[文档]@configclass class RelativeJointPositionActionCfg(JointActionCfg): """Configuration for the relative joint position action term. See :class:`RelativeJointPositionAction` for more details. """ class_type: type[ActionTerm] = joint_actions.RelativeJointPositionAction use_zero_offset: bool = True """Whether to ignore the offset defined in articulation asset. Defaults to True. If True, this flag results in overwriting the values of :attr:`offset` to zero. """
[文档]@configclass class JointVelocityActionCfg(JointActionCfg): """Configuration for the joint velocity action term. See :class:`JointVelocityAction` for more details. """ class_type: type[ActionTerm] = joint_actions.JointVelocityAction use_default_offset: bool = True """Whether to use default joint velocities configured in the articulation asset as offset. Defaults to True. This overrides the settings from :attr:`offset` if set to True. """
[文档]@configclass class JointEffortActionCfg(JointActionCfg): """Configuration for the joint effort action term. See :class:`JointEffortAction` for more details. """ class_type: type[ActionTerm] = joint_actions.JointEffortAction
## # Joint actions rescaled to limits. ##
[文档]@configclass class JointPositionToLimitsActionCfg(ActionTermCfg): """Configuration for the bounded joint position action term. See :class:`JointPositionWithinLimitsAction` for more details. """ class_type: type[ActionTerm] = joint_actions_to_limits.JointPositionToLimitsAction 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.""" rescale_to_limits: bool = True """Whether to rescale the action to the joint limits. Defaults to True. If True, the input actions are rescaled to the joint limits, i.e., the action value in the range [-1, 1] corresponds to the joint lower and upper limits respectively. Note: This operation is performed after applying the scale factor. """
[文档]@configclass class EMAJointPositionToLimitsActionCfg(JointPositionToLimitsActionCfg): """Configuration for the exponential moving average (EMA) joint position action term. See :class:`EMAJointPositionToLimitsAction` for more details. """ class_type: type[ActionTerm] = joint_actions_to_limits.EMAJointPositionToLimitsAction alpha: float | dict[str, float] = 1.0 """The weight for the moving average (float or dict of regex expressions). Defaults to 1.0. If set to 1.0, the processed action is applied directly without any moving average window. """
## # Gripper actions. ##
[文档]@configclass class BinaryJointActionCfg(ActionTermCfg): """Configuration for the base binary joint action term. See :class:`BinaryJointAction` for more details. """ joint_names: list[str] = MISSING """List of joint names or regex expressions that the action will be mapped to.""" open_command_expr: dict[str, float] = MISSING """The joint command to move to *open* configuration.""" close_command_expr: dict[str, float] = MISSING """The joint command to move to *close* configuration."""
[文档]@configclass class BinaryJointPositionActionCfg(BinaryJointActionCfg): """Configuration for the binary joint position action term. See :class:`BinaryJointPositionAction` for more details. """ class_type: type[ActionTerm] = binary_joint_actions.BinaryJointPositionAction
[文档]@configclass class BinaryJointVelocityActionCfg(BinaryJointActionCfg): """Configuration for the binary joint velocity action term. See :class:`BinaryJointVelocityAction` for more details. """ class_type: type[ActionTerm] = binary_joint_actions.BinaryJointVelocityAction
## # Non-holonomic actions. ##
[文档]@configclass class NonHolonomicActionCfg(ActionTermCfg): """Configuration for the non-holonomic action term with dummy joints at the base. See :class:`NonHolonomicAction` for more details. """ class_type: type[ActionTerm] = non_holonomic_actions.NonHolonomicAction body_name: str = MISSING """Name of the body which has the dummy mechanism connected to.""" x_joint_name: str = MISSING """The dummy joint name in the x direction.""" y_joint_name: str = MISSING """The dummy joint name in the y direction.""" yaw_joint_name: str = MISSING """The dummy joint name in the yaw direction.""" scale: tuple[float, float] = (1.0, 1.0) """Scale factor for the action. Defaults to (1.0, 1.0).""" offset: tuple[float, float] = (0.0, 0.0) """Offset factor for the action. Defaults to (0.0, 0.0)."""
## # Task-space Actions. ##
[文档]@configclass class DifferentialInverseKinematicsActionCfg(ActionTermCfg): """Configuration for inverse differential kinematics action term. See :class:`DifferentialInverseKinematicsAction` for more details. """
[文档] @configclass class OffsetCfg: """The offset pose from parent frame to child frame. On many robots, end-effector frames are fictitious frames that do not have a corresponding rigid body. In such cases, it is easier to define this transform w.r.t. their parent rigid body. For instance, for the Franka Emika arm, the end-effector is defined at an offset to the the "panda_hand" frame. """ pos: tuple[float, float, float] = (0.0, 0.0, 0.0) """Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).""" rot: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0) """Quaternion rotation ``(w, x, y, z)`` w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0)."""
class_type: type[ActionTerm] = task_space_actions.DifferentialInverseKinematicsAction joint_names: list[str] = MISSING """List of joint names or regex expressions that the action will be mapped to.""" body_name: str = MISSING """Name of the body or frame for which IK is performed.""" body_offset: OffsetCfg | None = None """Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied.""" scale: float | tuple[float, ...] = 1.0 """Scale factor for the action. Defaults to 1.0.""" controller: DifferentialIKControllerCfg = MISSING """The configuration for the differential IK controller."""