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unilab.dr.dr_utils.validate_common_reset_randomization¶

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:

env (Any)
capabilities (DomainRandomizationCapabilities)
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:

frozenset[str]