actions

类：

名称	描述
ControlActionManager	Base class for action managers that control actuators.

ControlActionManager

ControlActionManager(env: GenesisEnv, delay_step: int = 0, params: VehicleParams = VehicleParams(), gains: dict | None = None, limits: dict | None = None, entity_attr: str = 'robot', control_mode: str = 'cmd_motor_speeds')

Bases: BaseActionManager

Base class for action managers that control actuators.

参数：

名称	类型	描述	默认
env	GenesisEnv	The environment to manage the DOF actuators for.	必需
delay_step	int	The number of steps to delay the actions for. This is an easy way to emulate the latency in the system.	0
params	VehicleParams	Vehicle physical parameters.	VehicleParams()
entity_attr	str	Attribute name on the environment for the robot entity.	'robot'
control_mode	str	Control mode string (e.g. 'cmd_motor_speeds').	'cmd_motor_speeds'

方法：

名称	描述
step	Handle the received actions.
reset	Reset environments.
get_actions	Get the current actions for the environments.

属性：

名称	类型	描述
num_actions	int	The total number of actions.
action_space	tuple[float, float]	If using the default action handler, the action space is [-1, 1].
actions	Tensor	The actions for for the current step.
raw_actions	Tensor	The actions received from the policy, before being converted.

num_actions property

num_actions: int

The total number of actions.

action_space property

action_space: tuple[float, float]

If using the default action handler, the action space is [-1, 1].

actions property

actions: Tensor

The actions for for the current step.

raw_actions property

raw_actions: Tensor

The actions received from the policy, before being converted.

step

step(actions: Tensor) -> None

Handle the received actions.

reset

reset(envs_idx: list[int] | None)

Reset environments.

get_actions

get_actions() -> torch.Tensor

Get the current actions for the environments.