actions

类：

名称	描述
ControlActionManager	Base class for Genesis flight action managers.

ControlActionManager

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

Bases: BaseActionManager

Base class for Genesis flight action managers.

Initialize the Genesis flight action manager.

参数：

名称	类型	描述	默认
env	GenesisEnv	The environment that owns the controlled robot entity.	必需
delay_step	int	Number of control steps to delay incoming actions.	0
params	VehicleParams	Vehicle physical parameters.	VehicleParams()
gains	dict | None	Optional flight-controller gain overrides.	None
limits	dict | None	Optional flight-controller command-limit overrides.	None
mapping	FlightMappingConfig	Action-mapping overrides resolved against params.	FlightMappingConfig()
entity_attr	str	Environment attribute name for the robot entity.	'robot'
control_mode	str	Flight control mode for interpreting the incoming action.	'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.