mjlab.actuator

Actuator implementations for mjlab.

Classes

Actuator ActuatorCfg ActuatorCmd BuiltinActuatorGroup BuiltinMotorActuator BuiltinMotorActuatorCfg BuiltinPositionActuator BuiltinPositionActuatorCfg BuiltinVelocityActuator BuiltinVelocityActuatorCfg

BuiltinMuscleActuator BuiltinMuscleActuatorCfg XmlMotorActuator XmlMotorActuatorCfg XmlPositionActuator XmlPositionActuatorCfg XmlVelocityActuator XmlVelocityActuatorCfg XmlMuscleActuator

XmlMuscleActuatorCfg IdealPdActuator IdealPdActuatorCfg DcMotorActuator DcMotorActuatorCfg DelayedActuator DelayedActuatorCfg LearnedMlpActuator LearnedMlpActuatorCfg

Base

class mjlab.actuator.Actuator

Bases: ABC, Generic[ActuatorCfgT]

Base actuator interface.

__init__(cfg: ActuatorCfgT, entity: Entity, target_ids: list[int], target_names: list[str]) → None

property target_ids: Tensor

Local indices of targets controlled by this actuator.

property target_names: list[str]

Names of targets controlled by this actuator.

property transmission_type: TransmissionType

Transmission type of this actuator.

property ctrl_ids: Tensor

Local indices of control inputs within the entity.

property global_ctrl_ids: Tensor

Global indices of control inputs in the MuJoCo model.

abstractmethod edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

initialize(mj_model: MjModel, model: mujoco_warp.Model, data: mujoco_warp.Data, device: str) → None

Initialize the actuator after model compilation.

This is called after the MjSpec is compiled into an MjModel.

Parameters:

• mj_model – The compiled MuJoCo model.

• model – The compiled mjwarp model.

• data – The mjwarp data arrays.

• device – Device for tensor operations (e.g., “cuda”, “cpu”).

get_command(data: EntityData) → ActuatorCmd

Extract command data for this actuator from entity data.

Parameters:

data – The entity data containing all state and target information.

Returns:

ActuatorCmd with appropriate data based on transmission type.

abstractmethod compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

reset(env_ids: Tensor | slice | None = None) → None

Reset actuator state for specified environments.

Base implementation does nothing. Override in subclasses that maintain internal state.

Parameters:

env_ids – Environment indices to reset. If None, reset all environments.

update(dt: float) → None

Update actuator state after a simulation step.

Base implementation does nothing. Override in subclasses that need per-step updates.

Parameters:

dt – Time step in seconds.

class mjlab.actuator.ActuatorCfg

target_names_expr: tuple[str, ...]

Targets that are part of this actuator group.

Can be a tuple of names or tuple of regex expressions. Interpreted based on transmission_type (joint/tendon/site).

transmission_type: TransmissionType = 'joint'

Transmission type. Defaults to JOINT.

armature: float = 0.0

Reflected rotor inertia.

frictionloss: float = 0.0

Friction loss force limit.

Applies a constant friction force opposing motion, independent of load or velocity. Also known as dry friction or load-independent friction.

abstractmethod build(entity: Entity, target_ids: list[int], target_names: list[str]) → Actuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.ActuatorCmd

High-level actuator command with targets and current state.

Passed to actuator’s compute() method to generate low-level control signals. All tensors have shape (num_envs, num_targets).

position_target: Tensor

Desired positions (joint positions, tendon lengths, or site positions).

velocity_target: Tensor

Desired velocities (joint velocities, tendon velocities, or site velocities).

effort_target: Tensor

Feedforward effort (torques or forces).

pos: Tensor

Current positions (joint positions, tendon lengths, or site positions).

vel: Tensor

Current velocities (joint velocities, tendon velocities, or site velocities).

Builtin Actuators

class mjlab.actuator.BuiltinActuatorGroup

Bases: object

Groups builtin actuators for batch processing.

Builtin actuators (position, velocity, motor) just pass through target values from entity data to control signals. This class pre-computes the mappings and enables direct writes without per-actuator overhead.

static process(actuators: list[Actuator]) → tuple[BuiltinActuatorGroup, tuple[Actuator, ...]]

Register builtin actuators and pre-compute their mappings.

Parameters:

actuators – List of initialized actuators to process.

Returns:

• BuiltinActuatorGroup with pre-computed mappings.

• List of custom (non-builtin) actuators.

Return type:

A tuple containing

apply_controls(data: EntityData) → None

Write builtin actuator controls directly to simulation data.

Parameters:

data – Entity data containing targets and control arrays.

__init__(_index_groups: dict[tuple[type[BuiltinMotorActuator | BuiltinMuscleActuator | BuiltinPositionActuator | BuiltinVelocityActuator], TransmissionType], tuple[Tensor, Tensor]]) → None

class mjlab.actuator.BuiltinMotorActuator

Bases: Actuator[BuiltinMotorActuatorCfg]

MuJoCo built-in motor actuator.

__init__(cfg: BuiltinMotorActuatorCfg, entity: Entity, target_ids: list[int], target_names: list[str]) → None

edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.BuiltinMotorActuatorCfg

Configuration for MuJoCo built-in motor actuator.

Under the hood, this creates a <motor> actuator for each target and sets its effort limit and gear ratio accordingly. It also modifies the target’s properties, namely armature and frictionloss.

effort_limit: float

Maximum actuator effort.

gear: float = 1.0

Actuator gear ratio.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → BuiltinMotorActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.BuiltinPositionActuator

Bases: Actuator[BuiltinPositionActuatorCfg]

MuJoCo built-in position actuator.

__init__(cfg: BuiltinPositionActuatorCfg, entity: Entity, target_ids: list[int], target_names: list[str]) → None

edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.BuiltinPositionActuatorCfg

Configuration for MuJoCo built-in position actuator.

Under the hood, this creates a <position> actuator for each target and sets the stiffness, damping and effort limits accordingly. It also modifies the target’s properties, namely armature and frictionloss.

stiffness: float

PD proportional gain.

damping: float

PD derivative gain.

effort_limit: float | None = None

Maximum actuator force/torque. If None, no limit is applied.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → BuiltinPositionActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.BuiltinVelocityActuator

Bases: Actuator[BuiltinVelocityActuatorCfg]

MuJoCo built-in velocity actuator.

__init__(cfg: BuiltinVelocityActuatorCfg, entity: Entity, target_ids: list[int], target_names: list[str]) → None

edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.BuiltinVelocityActuatorCfg

Configuration for MuJoCo built-in velocity actuator.

Under the hood, this creates a <velocity> actuator for each target and sets the damping gain. It also modifies the target’s properties, namely armature and frictionloss.

damping: float

Damping gain.

effort_limit: float | None = None

Maximum actuator force/torque. If None, no limit is applied.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → BuiltinVelocityActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.BuiltinMuscleActuator

Bases: Actuator[BuiltinMuscleActuatorCfg]

MuJoCo built-in muscle actuator.

__init__(cfg: BuiltinMuscleActuatorCfg, entity: Entity, target_ids: list[int], target_names: list[str]) → None

edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.BuiltinMuscleActuatorCfg

Configuration for MuJoCo built-in muscle actuator.

length_range: tuple[float, float] = (0.0, 0.0)

Length range for muscle actuator.

gear: float = 1.0

Gear ratio.

timeconst: tuple[float, float] = (0.01, 0.04)

Activation and deactivation time constants.

tausmooth: float = 0.0

Smoothing time constant.

range: tuple[float, float] = (0.75, 1.05)

Operating range of normalized muscle length.

force: float = -1.0

Peak force (if -1, defaults to scale * FLV).

scale: float = 200.0

Force scaling factor.

lmin: float = 0.5

Minimum normalized muscle length.

lmax: float = 1.6

Maximum normalized muscle length.

vmax: float = 1.5

Maximum normalized muscle velocity.

fpmax: float = 1.3

Passive force at lmax.

fvmax: float = 1.2

Active force at -vmax.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → BuiltinMuscleActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

XML Actuators

class mjlab.actuator.XmlMotorActuator

Bases: XmlActuator[XmlMotorActuatorCfg]

Wrapper for XML-defined <motor> actuators.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.XmlMotorActuatorCfg

Wrap existing XML-defined <motor> actuators.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → XmlMotorActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.XmlPositionActuator

Bases: XmlActuator[XmlPositionActuatorCfg]

Wrapper for XML-defined <position> actuators.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.XmlPositionActuatorCfg

Wrap existing XML-defined <position> actuators.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → XmlPositionActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.XmlVelocityActuator

Bases: XmlActuator[XmlVelocityActuatorCfg]

Wrapper for XML-defined <velocity> actuators.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.XmlVelocityActuatorCfg

Wrap existing XML-defined <velocity> actuators.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → XmlVelocityActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

class mjlab.actuator.XmlMuscleActuator

Bases: XmlActuator[XmlMuscleActuatorCfg]

Wrapper for XML-defined <muscle> actuators.

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.XmlMuscleActuatorCfg

Wrap existing XML-defined <muscle> actuators.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → XmlMuscleActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

Ideal PD Actuator

class mjlab.actuator.IdealPdActuator

Bases: Actuator, Generic[IdealPdCfgT]

Ideal PD control actuator.

__init__(cfg: IdealPdCfgT, entity: Entity, target_ids: list[int], target_names: list[str]) → None

edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

initialize(mj_model: MjModel, model: mujoco_warp.Model, data: mujoco_warp.Data, device: str) → None

Initialize the actuator after model compilation.

This is called after the MjSpec is compiled into an MjModel.

Parameters:

• mj_model – The compiled MuJoCo model.

• model – The compiled mjwarp model.

• data – The mjwarp data arrays.

• device – Device for tensor operations (e.g., “cuda”, “cpu”).

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

set_gains(env_ids: Tensor | slice, kp: Tensor | None = None, kd: Tensor | None = None) → None

Set PD gains for specified environments.

Parameters:

• env_ids – Environment indices to update.

• kp – New proportional gains. Shape: (num_envs, num_actuators) or (num_envs,).

• kd – New derivative gains. Shape: (num_envs, num_actuators) or (num_envs,).

set_effort_limit(env_ids: Tensor | slice, effort_limit: Tensor) → None

Set effort limits for specified environments.

Parameters:

• env_ids – Environment indices to update.

• effort_limit – New effort limits. Shape: (num_envs, num_actuators) or (num_envs,).

class mjlab.actuator.IdealPdActuatorCfg

Configuration for ideal PD actuator.

stiffness: float

PD stiffness (proportional gain).

damping: float

PD damping (derivative gain).

effort_limit: float = inf

Maximum force/torque limit.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → IdealPdActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

DC Motor Actuator

class mjlab.actuator.DcMotorActuator

Bases: IdealPdActuator[DcMotorCfgT], Generic[DcMotorCfgT]

DC motor actuator with velocity-based saturation model.

This actuator extends IdealPdActuator with a realistic DC motor model that limits torque based on current joint velocity. The model implements a linear torque-speed curve where: - At zero velocity: can produce full saturation_effort (stall torque) - At max velocity: can produce zero torque - Between: torque limit varies linearly

The continuous torque limit (effort_limit) further constrains the output.

__init__(cfg: DcMotorCfgT, entity: Entity, target_ids: list[int], target_names: list[str]) → None

initialize(mj_model: MjModel, model: mujoco_warp.Model, data: mujoco_warp.Data, device: str) → None

Initialize the actuator after model compilation.

This is called after the MjSpec is compiled into an MjModel.

Parameters:

• mj_model – The compiled MuJoCo model.

• model – The compiled mjwarp model.

• data – The mjwarp data arrays.

• device – Device for tensor operations (e.g., “cuda”, “cpu”).

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

class mjlab.actuator.DcMotorActuatorCfg

Configuration for DC motor actuator with velocity-based saturation.

This actuator implements a DC motor torque-speed curve for more realistic actuator behavior. The motor produces maximum torque (saturation_effort) at zero velocity and reduces linearly to zero torque at maximum velocity.

Note: effort_limit should be explicitly set to a realistic value for proper motor modeling. Using the default (inf) will trigger a warning. Use IdealPdActuator if unlimited torque is desired.

saturation_effort: float

Peak motor torque at zero velocity (stall torque).

velocity_limit: float

Maximum motor velocity (no-load speed).

build(entity: Entity, target_ids: list[int], target_names: list[str]) → DcMotorActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

Delayed Actuator

class mjlab.actuator.DelayedActuator

Bases: Actuator[DelayedActuatorCfg]

Generic wrapper that adds delay to any actuator.

Delays the specified command target(s) (position, velocity, and/or effort) before passing it to the underlying actuator’s compute method.

__init__(cfg: DelayedActuatorCfg, base_actuator: Actuator) → None

property base_actuator: Actuator

The underlying actuator being wrapped.

edit_spec(spec: MjSpec, target_names: list[str]) → None

Edit the MjSpec to add actuators.

This is called during entity construction, before the model is compiled.

Parameters:

• spec – The entity’s MjSpec to edit.

• target_names – Names of targets (joints, tendons, or sites) controlled by this actuator.

initialize(mj_model: MjModel, model: mujoco_warp.Model, data: mujoco_warp.Data, device: str) → None

Initialize the actuator after model compilation.

This is called after the MjSpec is compiled into an MjModel.

Parameters:

• mj_model – The compiled MuJoCo model.

• model – The compiled mjwarp model.

• data – The mjwarp data arrays.

• device – Device for tensor operations (e.g., “cuda”, “cpu”).

compute(cmd: ActuatorCmd) → Tensor

Compute low-level actuator control signal from high-level commands.

Parameters:

cmd – High-level actuator command.

Returns:

Control signal tensor of shape (num_envs, num_actuators).

reset(env_ids: Tensor | slice | None = None) → None

Reset actuator state for specified environments.

Base implementation does nothing. Override in subclasses that maintain internal state.

Parameters:

env_ids – Environment indices to reset. If None, reset all environments.

set_lags(lags: Tensor, env_ids: Tensor | slice | None = None) → None

Set delay lag values for specified environments.

Parameters:

• lags – Lag values in physics timesteps. Shape: (num_env_ids,) or scalar.

• env_ids – Environment indices to set. If None, sets all environments.

update(dt: float) → None

Update actuator state after a simulation step.

Base implementation does nothing. Override in subclasses that need per-step updates.

Parameters:

dt – Time step in seconds.

class mjlab.actuator.DelayedActuatorCfg

Configuration for delayed actuator wrapper.

Wraps any actuator config to add delay functionality. Delays are quantized to physics timesteps (not control timesteps). For example, with 500Hz physics and 50Hz control (decimation=10), a lag of 2 represents a 4ms delay (2 physics steps).

target_names_expr: tuple[str, ...] = ()

Targets that are part of this actuator group.

Can be a tuple of names or tuple of regex expressions. Interpreted based on transmission_type (joint/tendon/site).

base_cfg: ActuatorCfg

Configuration for the underlying actuator.

delay_target: Literal['position', 'velocity', 'effort'] | tuple[Literal['position', 'velocity', 'effort'], ...] = 'position'

Which command target(s) to delay.

Can be a single string like ‘position’, or a tuple of strings like (‘position’, ‘velocity’, ‘effort’) to delay multiple targets together.

delay_min_lag: int = 0

Minimum delay lag in physics timesteps.

delay_max_lag: int = 0

Maximum delay lag in physics timesteps.

delay_hold_prob: float = 0.0

Probability of keeping previous lag when updating.

delay_update_period: int = 0

Period for updating delays in physics timesteps (0 = every step).

delay_per_env_phase: bool = True

Whether each environment has a different phase offset.

build(entity: Entity, target_ids: list[int], target_names: list[str]) → DelayedActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.

Learned MLP Actuator

class mjlab.actuator.LearnedMlpActuator

Bases: DcMotorActuator[LearnedMlpActuatorCfg]

MLP-based learned actuator with joint history.

This actuator uses a trained neural network to map from joint commands and state history to torque outputs. The network captures complex actuator dynamics that are difficult to model analytically.

The actuator maintains circular buffers of joint position errors and velocities, which are used as inputs to the MLP. The network outputs are then scaled and clipped using the DC motor limits from the parent class.

__init__(cfg: LearnedMlpActuatorCfg, entity: Entity, target_ids: list[int], target_names: list[str]) → None

initialize(mj_model: MjModel, model: mujoco_warp.Model, data: mujoco_warp.Data, device: str) → None

Initialize the actuator after model compilation.

This is called after the MjSpec is compiled into an MjModel.

Parameters:

• mj_model – The compiled MuJoCo model.

• model – The compiled mjwarp model.

• data – The mjwarp data arrays.

• device – Device for tensor operations (e.g., “cuda”, “cpu”).

reset(env_ids: Tensor | slice | None = None) → None

Reset history buffers for specified environments.

Parameters:

env_ids – Environment indices to reset. If None, reset all environments.

compute(cmd: ActuatorCmd) → Tensor

Compute actuator torques using the learned MLP model.

Parameters:

cmd – High-level actuator command containing targets and current state.

Returns:

Computed torque tensor of shape (num_envs, num_joints).

class mjlab.actuator.LearnedMlpActuatorCfg

Configuration for MLP-based learned actuator model.

This actuator learns the mapping from joint commands and state history to actual torque output. It’s useful for capturing actuator dynamics that are difficult to model analytically, such as delays, non-linearities, and friction effects.

The network is trained offline using data from the real system and loaded as a TorchScript file. The model uses a sliding window of historical joint position errors and velocities as inputs.

network_file: str

Path to the TorchScript file containing the trained MLP model.

pos_scale: float

Scaling factor for joint position error inputs to the network.

vel_scale: float

Scaling factor for joint velocity inputs to the network.

torque_scale: float

Scaling factor for torque outputs from the network.

input_order: Literal['pos_vel', 'vel_pos'] = 'pos_vel'

Order of inputs to the network.

• “pos_vel”: position errors followed by velocities

• “vel_pos”: velocities followed by position errors

history_length: int = 3

Number of timesteps of history to use as network inputs.

For example, history_length=3 uses the current timestep plus the previous 2 timesteps (total of 3 frames).

stiffness: float = 0.0

PD stiffness (proportional gain).

damping: float = 0.0

PD damping (derivative gain).

build(entity: Entity, target_ids: list[int], target_names: list[str]) → LearnedMlpActuator

Build actuator instance.

Parameters:

• entity – Entity this actuator belongs to.

• target_ids – Local target indices (for indexing entity arrays).

• target_names – Target names corresponding to target_ids.

Returns:

Actuator instance.