Language

unilab.envs.locomotion.go2.footstand.Go2FootStandDomainRandConfig¶

class unilab.envs.locomotion.go2.footstand.Go2FootStandDomainRandConfig[source]¶

Bases: Go2DomainRandConfig

Go2FootStandDomainRandConfig(randomize_base_mass: ‘bool’ = False, added_mass_range: ‘list[float]’ = <factory>, randomize_body_mass: ‘bool’ = False, body_mass_multiplier_range: ‘list[float]’ = <factory>, random_com: ‘bool’ = False, com_offset_x: ‘list[float]’ = <factory>, randomize_gravity: ‘bool’ = False, gravity_range: ‘list[list[float]]’ = <factory>, randomize_ground_friction: ‘bool’ = False, ground_friction_multiplier_range: ‘list[float]’ = <factory>, randomize_dof_armature: ‘bool’ = True, dof_armature_multiplier_range: ‘list[float]’ = <factory>, push_robots: ‘bool’ = False, push_interval: ‘int’ = 750, max_force: ‘list[float]’ = <factory>, push_body_name: ‘str | None’ = None, randomize_kp: ‘bool’ = False, kp_multiplier_range: ‘list[float]’ = <factory>, randomize_kd: ‘bool’ = False, kd_multiplier_range: ‘list[float]’ = <factory>, randomize_floor_friction: ‘bool’ = True, floor_friction_range: ‘list[float]’ = <factory>, randomize_link_mass: ‘bool’ = True, link_mass_scale_range: ‘list[float]’ = <factory>, torso_added_mass_range: ‘list[float]’ = <factory>, randomize_torso_com: ‘bool’ = True, torso_com_offset_range: ‘list[float]’ = <factory>, dof_armature_scale_range: ‘list[float]’ = <factory>, randomize_reset_joint_qpos: ‘bool’ = True, reset_joint_qpos_range: ‘list[float]’ = <factory>)

Parameters:

randomize_base_mass (bool)
added_mass_range (list[float])
randomize_body_mass (bool)
body_mass_multiplier_range (list[float])
random_com (bool)
com_offset_x (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
randomize_ground_friction (bool)
ground_friction_multiplier_range (list[float])
randomize_dof_armature (bool)
dof_armature_multiplier_range (list[float])
push_robots (bool)
push_interval (int)
max_force (list[float])
push_body_name (str | None)
randomize_kp (bool)
kp_multiplier_range (list[float])
randomize_kd (bool)
kd_multiplier_range (list[float])
randomize_floor_friction (bool)
floor_friction_range (list[float])
randomize_link_mass (bool)
link_mass_scale_range (list[float])
torso_added_mass_range (list[float])
randomize_torso_com (bool)
torso_com_offset_range (list[float])
dof_armature_scale_range (list[float])
randomize_reset_joint_qpos (bool)
reset_joint_qpos_range (list[float])

Methods

__init__([randomize_base_mass, ...])

Attributes

`push_body_name`
`push_interval`
`push_robots`
`random_com`
`randomize_base_mass`
`randomize_body_mass`
`randomize_dof_armature`
`randomize_floor_friction`
`randomize_gravity`
`randomize_ground_friction`
`randomize_kd`
`randomize_kp`
`randomize_link_mass`
`randomize_reset_joint_qpos`
`randomize_torso_com`
`floor_friction_range`
`link_mass_scale_range`
`torso_added_mass_range`
`torso_com_offset_range`
`dof_armature_scale_range`
`reset_joint_qpos_range`
`kp_multiplier_range`
`kd_multiplier_range`
`added_mass_range`
`body_mass_multiplier_range`
`com_offset_x`
`gravity_range`
`ground_friction_multiplier_range`
`dof_armature_multiplier_range`
`max_force`

randomize_kp: bool = False¶

randomize_kd: bool = False¶

randomize_base_mass: bool = False¶

random_com: bool = False¶

push_robots: bool = False¶

randomize_floor_friction: bool = True¶

floor_friction_range: list[float]¶

randomize_link_mass: bool = True¶

link_mass_scale_range: list[float]¶

torso_added_mass_range: list[float]¶

randomize_torso_com: bool = True¶

torso_com_offset_range: list[float]¶

randomize_dof_armature: bool = True¶

dof_armature_scale_range: list[float]¶

randomize_reset_joint_qpos: bool = True¶

reset_joint_qpos_range: list[float]¶

__init__(randomize_base_mass=False, added_mass_range=<factory>, randomize_body_mass=False, body_mass_multiplier_range=<factory>, random_com=False, com_offset_x=<factory>, randomize_gravity=False, gravity_range=<factory>, randomize_ground_friction=False, ground_friction_multiplier_range=<factory>, randomize_dof_armature=True, dof_armature_multiplier_range=<factory>, push_robots=False, push_interval=750, max_force=<factory>, push_body_name=None, randomize_kp=False, kp_multiplier_range=<factory>, randomize_kd=False, kd_multiplier_range=<factory>, randomize_floor_friction=True, floor_friction_range=<factory>, randomize_link_mass=True, link_mass_scale_range=<factory>, torso_added_mass_range=<factory>, randomize_torso_com=True, torso_com_offset_range=<factory>, dof_armature_scale_range=<factory>, randomize_reset_joint_qpos=True, reset_joint_qpos_range=<factory>)¶

Parameters:

randomize_base_mass (bool)
added_mass_range (list[float])
randomize_body_mass (bool)
body_mass_multiplier_range (list[float])
random_com (bool)
com_offset_x (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
randomize_ground_friction (bool)
ground_friction_multiplier_range (list[float])
randomize_dof_armature (bool)
dof_armature_multiplier_range (list[float])
push_robots (bool)
push_interval (int)
max_force (list[float])
push_body_name (str | None)
randomize_kp (bool)
kp_multiplier_range (list[float])
randomize_kd (bool)
kd_multiplier_range (list[float])
randomize_floor_friction (bool)
floor_friction_range (list[float])
randomize_link_mass (bool)
link_mass_scale_range (list[float])
torso_added_mass_range (list[float])
randomize_torso_com (bool)
torso_com_offset_range (list[float])
dof_armature_scale_range (list[float])
randomize_reset_joint_qpos (bool)
reset_joint_qpos_range (list[float])

push_body_name: str | None = None¶

push_interval: int = 750¶

randomize_body_mass: bool = False¶

randomize_gravity: bool = False¶

randomize_ground_friction: bool = False¶

kp_multiplier_range: list[float]¶

kd_multiplier_range: list[float]¶

added_mass_range: list[float]¶

body_mass_multiplier_range: list[float]¶

com_offset_x: list[float]¶

gravity_range: list[list[float]]¶

ground_friction_multiplier_range: list[float]¶

dof_armature_multiplier_range: list[float]¶

max_force: list[float]¶