Language

unilab.envs.manipulation.sharpa_inhand.base.SharpaControlConfig¶

class unilab.envs.manipulation.sharpa_inhand.base.SharpaControlConfig[source]¶

Bases: object

SharpaControlConfig(action_scale: ‘float’ = 0.041666666666666664, p_gain: ‘float’ = 1.0, d_gain: ‘float’ = 0.1, torque_control: ‘bool’ = False, dof_limits_scale: ‘float’ = 0.9)

Parameters:

action_scale (float)
p_gain (float)
d_gain (float)
torque_control (bool)
dof_limits_scale (float)

Methods

__init__([action_scale, p_gain, d_gain, ...])

Attributes

`action_scale`
`d_gain`
`dof_limits_scale`
`p_gain`
`torque_control`

action_scale: float = 0.041666666666666664¶

p_gain: float = 1.0¶

d_gain: float = 0.1¶

torque_control: bool = False¶

dof_limits_scale: float = 0.9¶

__init__(action_scale=0.041666666666666664, p_gain=1.0, d_gain=0.1, torque_control=False, dof_limits_scale=0.9)¶

Parameters:

action_scale (float)
p_gain (float)
d_gain (float)
torque_control (bool)
dof_limits_scale (float)