unilab.envs.locomotion.go2_arm.base.Go2ArmSensor

class unilab.envs.locomotion.go2_arm.base.Go2ArmSensor[source]

Bases: Sensor

Go2ArmSensor(feet_force: ‘list[str]’ = <factory>, feet_pos: ‘list[str]’ = <factory>, ee_local_pos: ‘str’ = ‘endpoint_pos’, ee_local_quat: ‘str’ = ‘endpoint_quat’, ee_local_vel: ‘str’ = ‘endpoint_vel’, ee_relative_pos: ‘str’ = ‘endpoint_relative_pos’, ee_relative_quat: ‘str’ = ‘endpoint_relative_quat’, arm_ref_world_quat: ‘str’ = ‘armbasepoint_world_quat’)

Parameters:

  • feet_force (list[str])

  • feet_pos (list[str])

  • ee_local_pos (str)

  • ee_local_quat (str)

  • ee_local_vel (str)

  • ee_relative_pos (str)

  • ee_relative_quat (str)

  • arm_ref_world_quat (str)

Methods

__init__([feet_force, feet_pos, ...])

Attributes

arm_ref_world_quat

ee_local_pos

ee_local_quat

ee_local_vel

ee_relative_pos

ee_relative_quat

gyro

local_linvel

feet_force

feet_pos

feet_force: list[str]
feet_pos: list[str]
ee_local_pos: str = 'endpoint_pos'
ee_local_quat: str = 'endpoint_quat'
ee_local_vel: str = 'endpoint_vel'
ee_relative_pos: str = 'endpoint_relative_pos'
ee_relative_quat: str = 'endpoint_relative_quat'
arm_ref_world_quat: str = 'armbasepoint_world_quat'
__init__(feet_force=<factory>, feet_pos=<factory>, ee_local_pos='endpoint_pos', ee_local_quat='endpoint_quat', ee_local_vel='endpoint_vel', ee_relative_pos='endpoint_relative_pos', ee_relative_quat='endpoint_relative_quat', arm_ref_world_quat='armbasepoint_world_quat')
Parameters:

  • feet_force (list[str])

  • feet_pos (list[str])

  • ee_local_pos (str)

  • ee_local_quat (str)

  • ee_local_vel (str)

  • ee_relative_pos (str)

  • ee_relative_quat (str)

  • arm_ref_world_quat (str)

gyro = 'gyro'
local_linvel = 'local_linvel'