Language

unilab.envs.locomotion.go2_arm.manip_loco.EEGoalConfig¶

class unilab.envs.locomotion.go2_arm.manip_loco.EEGoalConfig[source]¶

Bases: object

End-effector goal config in spherical coordinates.

Parameters:

sphere_l_range (list[float])
sphere_phi_range (list[float])
sphere_theta_range (list[float])
traj_time_range (list[float])
hold_time_range (list[float])
collision_upper_limits (list[float])
collision_lower_limits (list[float])
underground_limit (float)
num_collision_check_samples (int)
num_resample_attempts (int)
default_orn_roll (float)
arm_induced_pitch (float)
delta_orn_r (list[float])
delta_orn_p (list[float])
delta_orn_y (list[float])
init_ee_cart (list[float])

Methods

__init__([sphere_l_range, sphere_phi_range, ...])

Attributes

`arm_induced_pitch`
`default_orn_roll`
`num_collision_check_samples`
`num_resample_attempts`
`underground_limit`
`sphere_l_range`
`sphere_phi_range`
`sphere_theta_range`
`traj_time_range`
`hold_time_range`
`collision_upper_limits`
`collision_lower_limits`
`delta_orn_r`
`delta_orn_p`
`delta_orn_y`
`init_ee_cart`

sphere_l_range: list[float]¶

sphere_phi_range: list[float]¶

sphere_theta_range: list[float]¶

traj_time_range: list[float]¶

hold_time_range: list[float]¶

collision_upper_limits: list[float]¶

collision_lower_limits: list[float]¶

underground_limit: float = -0.57¶

num_collision_check_samples: int = 10¶

num_resample_attempts: int = 10¶

default_orn_roll: float = 1.5707963267948966¶

arm_induced_pitch: float = 0.78¶

delta_orn_r: list[float]¶

delta_orn_p: list[float]¶

delta_orn_y: list[float]¶

init_ee_cart: list[float]¶

__init__(sphere_l_range=<factory>, sphere_phi_range=<factory>, sphere_theta_range=<factory>, traj_time_range=<factory>, hold_time_range=<factory>, collision_upper_limits=<factory>, collision_lower_limits=<factory>, underground_limit=-0.57, num_collision_check_samples=10, num_resample_attempts=10, default_orn_roll=1.5707963267948966, arm_induced_pitch=0.78, delta_orn_r=<factory>, delta_orn_p=<factory>, delta_orn_y=<factory>, init_ee_cart=<factory>)¶

Parameters:

sphere_l_range (list[float])
sphere_phi_range (list[float])
sphere_theta_range (list[float])
traj_time_range (list[float])
hold_time_range (list[float])
collision_upper_limits (list[float])
collision_lower_limits (list[float])
underground_limit (float)
num_collision_check_samples (int)
num_resample_attempts (int)
default_orn_roll (float)
arm_induced_pitch (float)
delta_orn_r (list[float])
delta_orn_p (list[float])
delta_orn_y (list[float])
init_ee_cart (list[float])