actions

类：

名称	描述
ControlAction	Body torque control action term.
ControlActionCfg	See :class:ControlAction for more details.

ControlAction

ControlAction(cfg: ControlActionCfg, env: ManagerBasedRlEnv)

Bases: ActionTerm

Body torque control action term.

This action term applies a wrench to the drone body frame based on action commands

ControlActionCfg dataclass

ControlActionCfg(*, class_type: type[ActionTerm] = ControlAction, entity_name: str = 'robot', params: VehicleParams = VehicleParams())

Bases: ActionTermCfg

See :class:ControlAction for more details.

属性：

名称	类型	描述
class_type	type[ActionTerm]	Class of the action term.
entity_name	str	Name of the asset in the environment for which the commands are generated.
params	VehicleParams	Vehicle parameters.

class_type class-attribute instance-attribute

class_type: type[ActionTerm] = ControlAction

Class of the action term.

entity_name class-attribute instance-attribute

entity_name: str = 'robot'

Name of the asset in the environment for which the commands are generated.

params class-attribute instance-attribute

params: VehicleParams = field(default_factory=VehicleParams)

Vehicle parameters.