unilab.envs.locomotion.go2.footstand.FootstandSensor

class unilab.envs.locomotion.go2.footstand.FootstandSensor[source]

Bases: JoystickSensor

FootstandSensor()

Methods

__init__()

Attributes

accelerometer

feet_force

feet_pos

global_angvel

global_pos

gyro

local_linvel

penalty_contact

ternamate_contact

accelerometer = 'accelerometer'
global_angvel = 'global_angvel'
ternamate_contact = ['RL_hip_contact', 'RR_hip_contact', 'RL_thigh_contact', 'RR_thigh_contact', 'RL_calf_contact1', 'RL_calf_contact2', 'RR_calf_contact1', 'RR_calf_contact2']
penalty_contact = ['FL_hip_contact', 'FR_hip_contact', 'FL_thigh_contact', 'FR_thigh_contact', 'FL_calf_contact1', 'FL_calf_contact2', 'FR_calf_contact1', 'FR_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']
global_pos = 'global_position'
gyro = 'gyro'
local_linvel = 'local_linvel'