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unilab.envs.locomotion.go2.rough.RoughControlConfig¶

class unilab.envs.locomotion.go2.rough.RoughControlConfig[source]¶

Bases: ControlConfig

RoughControlConfig(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False, Kp: ‘float’ = 35.0, Kd: ‘float’ = 0.5, hip_action_scale: ‘float’ = 0.125, non_hip_action_scale: ‘float’ = 0.25, clip_actions: ‘float’ = 100.0)

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)
hip_action_scale (float)
non_hip_action_scale (float)
clip_actions (float)

Methods

__init__([action_scale, ...])

Attributes

`Kd`
`Kp`
`action_scale`
`clip_actions`
`hip_action_scale`
`non_hip_action_scale`
`simulate_action_latency`

hip_action_scale: float = 0.125¶

non_hip_action_scale: float = 0.25¶

clip_actions: float = 100.0¶

Kd: float = 0.5¶

Kp: float = 35.0¶

__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5, hip_action_scale=0.125, non_hip_action_scale=0.25, clip_actions=100.0)¶

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)
hip_action_scale (float)
non_hip_action_scale (float)
clip_actions (float)

action_scale: float = 0.25¶

simulate_action_latency: bool = False¶