Language

unilab.envs.locomotion.go2_arm.manip_loco.RewardConfig¶

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

Bases: object

RewardConfig(scales: ‘dict[str, float]’, tracking_sigma: ‘float’, base_height_target: ‘float’, target_foot_height: ‘float’ = 0.1, object_sigma: ‘float’ = 0.1, leg_dof_upper_limits: ‘list[float]’ = <factory>, leg_dof_lower_limits: ‘list[float]’ = <factory>, dof_pos_limit_margin: ‘float’ = 0.01)

Parameters:

scales (dict[str, float])
tracking_sigma (float)
base_height_target (float)
target_foot_height (float)
object_sigma (float)
leg_dof_upper_limits (list[float])
leg_dof_lower_limits (list[float])
dof_pos_limit_margin (float)

Methods

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

Attributes

`dof_pos_limit_margin`
`object_sigma`
`target_foot_height`
`scales`
`tracking_sigma`
`base_height_target`
`leg_dof_upper_limits`
`leg_dof_lower_limits`

scales: dict[str, float]¶

tracking_sigma: float¶

base_height_target: float¶

target_foot_height: float = 0.1¶

object_sigma: float = 0.1¶

leg_dof_upper_limits: list[float]¶

leg_dof_lower_limits: list[float]¶

dof_pos_limit_margin: float = 0.01¶

__init__(scales, tracking_sigma, base_height_target, target_foot_height=0.1, object_sigma=0.1, leg_dof_upper_limits=<factory>, leg_dof_lower_limits=<factory>, dof_pos_limit_margin=0.01)¶

Parameters:

scales (dict[str, float])
tracking_sigma (float)
base_height_target (float)
target_foot_height (float)
object_sigma (float)
leg_dof_upper_limits (list[float])
leg_dof_lower_limits (list[float])
dof_pos_limit_margin (float)