actuator

Actuator-side adaptation for measured differential-drive response.

Classes:

Name	Description
GroundDriveActuatorConfig	Nominal actuator response applied after differential allocation.
GroundDriveActuatorAdapter	Batched yaw allocation, side limiting, and actuator command latency.

GroundDriveActuatorConfig dataclass

GroundDriveActuatorConfig(yaw_allocation_scale: float = 1.0, left_gain: float = 1.0, right_gain: float = 1.0, left_delay_s: float = 0.0, right_delay_s: float = 0.0)

Nominal actuator response applied after differential allocation.

GroundDriveActuatorAdapter

GroundDriveActuatorAdapter(*, physics_dt: float, side_speed_limit: float, config: GroundDriveActuatorConfig, num_envs: int = 1, device=None, backend: BackendName | None = None, xp: ModuleType | None = None)

Batched yaw allocation, side limiting, and actuator command latency.

Build an Array API adapter for one fixed-rate physics loop.

Methods:

Name	Description
randomize	Randomize selected actuator parameters as nominal-relative scales.
reset	Clear actuator command state for selected environments.
update	Return the physical-side target for the current physics step.

Attributes:

Name	Type	Description
side_gain	ArrayLike	Current left/right gain samples.

side_gain property

side_gain: ArrayLike

Current left/right gain samples.

randomize

randomize(env_ids=None, randomization: dict[str, tuple[float, float] | float] | None = None) -> None

Randomize selected actuator parameters as nominal-relative scales.

reset

reset(env_ids=None) -> None

Clear actuator command state for selected environments.

update

update(targets: ArrayLike, *, apply_yaw_compensation: bool = True) -> ArrayLike

Return the physical-side target for the current physics step.