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unilab.envs.locomotion.go2.base.ControlConfig

class unilab.envs.locomotion.go2.base.ControlConfig

Bases: PdControlConfig

ControlConfig(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False, Kp: ‘float’ = 35.0, Kd: ‘float’ = 0.5)

Parameters:

• action_scale (float)

• simulate_action_latency (bool)

• Kp (float)

• Kd (float)

Methods

__init__([action_scale, ...])

Attributes

Kd
Kp
action_scale
simulate_action_latency

Kd: float = 0.5

Kp: float = 35.0

__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