actions

类：

名称	描述
DifferentialDriveControlAction	Map selectable ground-control actions to drive-joint velocity targets.
DifferentialDriveControlActionCfg	Configuration for selectable differential-drive control.

DifferentialDriveControlAction

DifferentialDriveControlAction(cfg: DifferentialDriveControlActionCfg, env: ManagerBasedRLEnv)

Bases: ActionTerm

Map selectable ground-control actions to drive-joint velocity targets.

属性：

名称	类型	描述
ideal_side_speed_targets	Tensor	Controller output before Isaac-specific allocation and latency.
applied_side_speed_targets	Tensor	Side targets after allocation/gain and before actuator latency.
sampled_actuator_parameters	dict[str, Tensor]	Expose per-environment samples for episode diagnostics.
IO_descriptor	GenericActionIODescriptor	Describe policy channels for the selected ground-control mode.

ideal_side_speed_targets property

ideal_side_speed_targets: Tensor

Controller output before Isaac-specific allocation and latency.

applied_side_speed_targets property

applied_side_speed_targets: Tensor

Side targets after allocation/gain and before actuator latency.

sampled_actuator_parameters property

sampled_actuator_parameters: dict[str, Tensor]

Expose per-environment samples for episode diagnostics.

IO_descriptor property

IO_descriptor: GenericActionIODescriptor

Describe policy channels for the selected ground-control mode.

DifferentialDriveControlActionCfg

Bases: ActionTermCfg

Configuration for selectable differential-drive control.