unilab.envs.locomotion.go1.rough.RoughJoystickSensor

class unilab.envs.locomotion.go1.rough.RoughJoystickSensor[source]

Bases: JoystickSensor

RoughJoystickSensor()

Methods

__init__()

Attributes

feet_force

feet_pos

feet_vel

gyro

local_linvel

undesired_contact

feet_vel = ['FL_vel', 'FR_vel', 'RL_vel', 'RR_vel']
undesired_contact = ['base1_contact', 'base2_contact', 'base3_contact', 'FL_hip_contact', 'FR_hip_contact', 'RL_hip_contact', 'RR_hip_contact', 'FL_thigh_contact', 'FR_thigh_contact', 'RL_thigh_contact', 'RR_thigh_contact', 'FL_calf_contact1', 'FR_calf_contact1', 'RL_calf_contact1', 'RR_calf_contact1', 'FL_calf_contact2', 'FR_calf_contact2', 'RL_calf_contact2', 'RR_calf_contact2']
__init__()
feet_force = ['FL_foot_contact', 'FR_foot_contact', 'RL_foot_contact', 'RR_foot_contact']
feet_pos = ['FL_pos', 'FR_pos', 'RL_pos', 'RR_pos']
gyro = 'gyro'
local_linvel = 'local_linvel'