Language

unilab.dr.dr_utils.build_common_reset_randomization¶

unilab.dr.dr_utils.build_common_reset_randomization(env, num_reset, *, base_kp=None, base_kd=None, base_body_mass=None, base_geom_friction=None, ground_geom_id=None, base_dof_armature=None)[source]¶

Parameters:

env (Any)
num_reset (int)
base_kp (ndarray | None)
base_kd (ndarray | None)
base_body_mass (ndarray | None)
base_geom_friction (ndarray | None)
ground_geom_id (int | None)
base_dof_armature (ndarray | None)

Return type:

ResetRandomizationPayload | None