actions

类：

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

FlightControlActionManager

FlightControlActionManager(env: GenesisEnv, delay_step: int = 0, params: VehicleParams = VehicleParams(), entity_attr: str = 'robot', rotor_link_names: tuple[str, ...] = ('rotor0', 'rotor1', 'rotor2', 'rotor3'))

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'

方法：

名称	描述
step	Process the incoming actions (analogous to Isaac Lab process_actions).
send_actions_to_simulation	Apply the processed actions to the simulation (Isaac Lab apply_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) -> torch.Tensor

Process the incoming actions (analogous to Isaac Lab process_actions).

Only the raw and clamped policy actions are stored here; the mixer, rotor dynamics and body-force application run in :meth:send_actions_to_simulation (the apply phase).

send_actions_to_simulation

send_actions_to_simulation(processed_actions: Tensor) -> torch.Tensor

Apply the processed actions to the simulation (Isaac Lab apply_actions).

genesis_forge>=0.5 splits action handling into step (process) and send_actions_to_simulation (apply), which runs at a different cadence than processing. This maps the processed actions to a rotor RPM command via the mixer, steps the rotor dynamics, and writes the resulting body forces/torques to the solver.

reset

reset(envs_idx: list[int] | None)

Reset environments.

get_actions

get_actions() -> torch.Tensor

Get the current actions for the environments.