unilab.envs.locomotion.go2_arm.base.ControlConfig

class unilab.envs.locomotion.go2_arm.base.ControlConfig[source]

Bases: ControlConfigBase

ControlConfig(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False, Kp: ‘float’ = 35.0, Kd: ‘float’ = 0.5, leg_kp: ‘float | list[float] | None’ = 60.0, leg_kd: ‘float | list[float] | None’ = 2.0, arm_kp: ‘float | list[float] | None’ = <factory>, arm_kd: ‘float | list[float] | None’ = <factory>, arm_action_scale: ‘float’ = 0.0)

Parameters:

Methods

__init__([action_scale, ...])

Attributes

Kd

Kp

action_scale

arm_action_scale

leg_kd

leg_kp

simulate_action_latency

arm_kp

arm_kd

Kp: float = 35.0
Kd: float = 0.5
leg_kp: float | list[float] | None = 60.0
leg_kd: float | list[float] | None = 2.0
arm_kp: float | list[float] | None
arm_kd: float | list[float] | None
arm_action_scale: float = 0.0
__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5, leg_kp=60.0, leg_kd=2.0, arm_kp=<factory>, arm_kd=<factory>, arm_action_scale=0.0)
Parameters:
action_scale: float = 0.25
simulate_action_latency: bool = False