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unilab.envs.locomotion.common.base.PdControlConfig¶

class unilab.envs.locomotion.common.base.PdControlConfig[source]¶

Bases: ControlConfigBase

ControlConfigBase plus shared PD-actuator gains (Go1/Go2/Go2W defaults).

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)

Methods

__init__([action_scale, ...])

Attributes

`Kd`
`Kp`
`action_scale`
`simulate_action_latency`

Kp: float = 35.0¶

Kd: float = 0.5¶

__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5)¶

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)

action_scale: float = 0.25¶

simulate_action_latency: bool = False¶