attitude

Attitude-aware MLP model with rotation-manifold projection for rsl-rl.

Mirrors lav2/runner/skrl/cfg/LAV2_base_att.py but adapted to rsl-rl's MLPModel interface so it can be referenced via class_name in a config dict.

Control modes and their action dimensions::

cmd_ctatt_euler → 4D [thrust, roll, pitch, yaw] cmd_ctatt_rotvec → 4D [thrust, rx, ry, rz] cmd_ctatt_quat → 5D [thrust, qx, qy, qz, qw] cmd_ctatt_rotmat → 10D [thrust, r00..r22]

Projection layers ensure the rotation component of the policy output lies on a valid manifold. The projection is applied between the MLP output and the distribution update for single-slice distributions (Gaussian), or to the first slice for multi-slice distributions (Beta, heteroscedastic Gaussian).

类：

名称	描述
AttitudeMLPModel	MLP model with optional rotation-manifold projection.

AttitudeMLPModel

AttitudeMLPModel(obs, obs_groups, obs_set, output_dim, hidden_dims=(128, 128), activation='tanh', obs_normalization=False, distribution_cfg=None, projection_type: str = '')

Bases: MLPModel

MLP model with optional rotation-manifold projection.

The projection is applied between the MLP output and the distribution update. This enforces rotation components to lie on valid manifolds (e.g. unit quaternion, orthogonal matrix).

参数：

名称	类型	描述	默认
projection_type	str	Explicit projection name (one of "euler", "rotvec", "quat", "quat_plus", "quat_offset", "rotmat", "rotmat_offset"). When empty, auto-detected from output_dim.	''

Construct the model and append the projection to the MLP trunk.