habitat_sim.agent.PyRobotNoisyActuationSpec class

Struct to hold parameters for pyrobot noise model

• https://pyrobot.org/
• https://github.com/facebookresearch/pyrobot

Please cite PyRobot if you use this noise model.

Methods

def check_controller(self, attribute: attr._make.Attribute, value: str) -> None

def check_robot(self, attribute: attr._make.Attribute, value: str) -> None

Special methods

def __init__(self, amount: float, constraint: typing.Optional[float] = None, robot: str = 'LoCoBot', controller: str = 'ILQR', noise_multiplier: float = 1.0) -> None

Method generated by attrs for class PyRobotNoisyActuationSpec.

Properties

robot: str get set del

Which robot to simulate noise for. Valid values are LoCoBot and LoCoBot-Lite.

controller: str get set del

Which controller to simulate noise models for. Valid values are ILQR, Proportional; Movebase ILQR is the default.

noise_multiplier: float get set del

Multiplier on the noise amount, useful for ablating the effect of noise.

amount: float get set del

constraint: typing.Optional[float] get set del