unilab.dr.dr_utils

Functions

build_common_reset_randomization(env, ...[, ...])

build_interval_push_plan(env, step_counter)

validate_common_reset_randomization(env, ...)

validate_interval_push_support(env, capabilities)

zero_actions(num_reset, num_action)

unilab.dr.dr_utils.zero_actions(num_reset, num_action)[source]
Parameters:

  • num_reset (int)

  • num_action (int)

Return type:

ndarray

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:
Return type:

ResetRandomizationPayload | None

unilab.dr.dr_utils.validate_common_reset_randomization(env, capabilities, *, base_kp=None, base_kd=None, base_body_mass=None, base_geom_friction=None, ground_geom_id=None, base_dof_armature=None)[source]
Parameters:
Return type:

frozenset[str]

unilab.dr.dr_utils.build_interval_push_plan(env, step_counter)[source]
Parameters:

  • env (Any)

  • step_counter (int)

Return type:

IntervalRandomizationPlan | None

unilab.dr.dr_utils.validate_interval_push_support(env, capabilities)[source]
Parameters:
Return type:

None