unilab.envs.locomotion.go2.rough.RoughRewardConfig

class unilab.envs.locomotion.go2.rough.RoughRewardConfig[source]

Bases: RewardConfig

RoughRewardConfig(scales: ‘dict[str, float]’, tracking_sigma: ‘float’, base_height_target: ‘float’, target_foot_height: ‘float’ = 0.1, stand_still_command_threshold: ‘float’ = 0.1, joint_pos_penalty_stand_still_scale: ‘float’ = 5.0, joint_pos_penalty_velocity_threshold: ‘float’ = 0.5, joint_pos_penalty_command_threshold: ‘float’ = 0.1, contact_threshold: ‘float’ = 1.0, contact_forces_threshold: ‘float’ = 100.0, feet_air_time_threshold: ‘float’ = 0.5, feet_height_body_target: ‘float’ = -0.2, feet_height_body_tanh_mult: ‘float’ = 2.0, feet_gait_std: ‘float’ = np.float64(0.7071067811865476), feet_gait_max_err: ‘float’ = 0.2, feet_gait_velocity_threshold: ‘float’ = 0.5, feet_gait_command_threshold: ‘float’ = 0.1)

Parameters:

  • scales (dict[str, float])

  • tracking_sigma (float)

  • base_height_target (float)

  • target_foot_height (float)

  • stand_still_command_threshold (float)

  • joint_pos_penalty_stand_still_scale (float)

  • joint_pos_penalty_velocity_threshold (float)

  • joint_pos_penalty_command_threshold (float)

  • contact_threshold (float)

  • contact_forces_threshold (float)

  • feet_air_time_threshold (float)

  • feet_height_body_target (float)

  • feet_height_body_tanh_mult (float)

  • feet_gait_std (float)

  • feet_gait_max_err (float)

  • feet_gait_velocity_threshold (float)

  • feet_gait_command_threshold (float)

Methods

__init__(scales, tracking_sigma, ...[, ...])

Attributes

contact_forces_threshold

contact_threshold

feet_air_time_threshold

feet_gait_command_threshold

feet_gait_max_err

feet_gait_std

feet_gait_velocity_threshold

feet_height_body_tanh_mult

feet_height_body_target

joint_pos_penalty_command_threshold

joint_pos_penalty_stand_still_scale

joint_pos_penalty_velocity_threshold

stand_still_command_threshold

target_foot_height

scales

tracking_sigma

base_height_target

stand_still_command_threshold: float = 0.1
joint_pos_penalty_stand_still_scale: float = 5.0
joint_pos_penalty_velocity_threshold: float = 0.5
joint_pos_penalty_command_threshold: float = 0.1
contact_threshold: float = 1.0
contact_forces_threshold: float = 100.0
feet_air_time_threshold: float = 0.5
feet_height_body_target: float = -0.2
feet_height_body_tanh_mult: float = 2.0
feet_gait_std: float = np.float64(0.7071067811865476)
feet_gait_max_err: float = 0.2
feet_gait_velocity_threshold: float = 0.5
feet_gait_command_threshold: float = 0.1
__init__(scales, tracking_sigma, base_height_target, target_foot_height=0.1, stand_still_command_threshold=0.1, joint_pos_penalty_stand_still_scale=5.0, joint_pos_penalty_velocity_threshold=0.5, joint_pos_penalty_command_threshold=0.1, contact_threshold=1.0, contact_forces_threshold=100.0, feet_air_time_threshold=0.5, feet_height_body_target=-0.2, feet_height_body_tanh_mult=2.0, feet_gait_std=np.float64(0.7071067811865476), feet_gait_max_err=0.2, feet_gait_velocity_threshold=0.5, feet_gait_command_threshold=0.1)
Parameters:

  • scales (dict[str, float])

  • tracking_sigma (float)

  • base_height_target (float)

  • target_foot_height (float)

  • stand_still_command_threshold (float)

  • joint_pos_penalty_stand_still_scale (float)

  • joint_pos_penalty_velocity_threshold (float)

  • joint_pos_penalty_command_threshold (float)

  • contact_threshold (float)

  • contact_forces_threshold (float)

  • feet_air_time_threshold (float)

  • feet_height_body_target (float)

  • feet_height_body_tanh_mult (float)

  • feet_gait_std (float)

  • feet_gait_max_err (float)

  • feet_gait_velocity_threshold (float)

  • feet_gait_command_threshold (float)

target_foot_height: float = 0.1
scales: dict[str, float]
tracking_sigma: float
base_height_target: float