Language

unilab.envs.locomotion.go2w.base.ControlConfig¶

class unilab.envs.locomotion.go2w.base.ControlConfig[source]¶

Bases: PdControlConfig

ControlConfig(action_scale: ‘float’ = 0.25, simulate_action_latency: ‘bool’ = False, Kp: ‘float’ = 35.0, Kd: ‘float’ = 0.5, hip_action_scale: ‘float | None’ = None, wheel_action_scale: ‘float’ = 10.0, wheel_Kd: ‘float’ = 0.5, clip_actions: ‘float’ = 1.0)

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)
hip_action_scale (float | None)
wheel_action_scale (float)
wheel_Kd (float)
clip_actions (float)

Methods

__init__([action_scale, ...])

Attributes

`Kd`
`Kp`
`action_scale`
`clip_actions`
`hip_action_scale`
`simulate_action_latency`
`wheel_Kd`
`wheel_action_scale`

action_scale: float = 0.25¶

hip_action_scale: float | None = None¶

wheel_action_scale: float = 10.0¶

wheel_Kd: float = 0.5¶

clip_actions: float = 1.0¶

Kd: float = 0.5¶

Kp: float = 35.0¶

__init__(action_scale=0.25, simulate_action_latency=False, Kp=35.0, Kd=0.5, hip_action_scale=None, wheel_action_scale=10.0, wheel_Kd=0.5, clip_actions=1.0)¶

Parameters:

action_scale (float)
simulate_action_latency (bool)
Kp (float)
Kd (float)
hip_action_scale (float | None)
wheel_action_scale (float)
wheel_Kd (float)
clip_actions (float)

simulate_action_latency: bool = False¶