unilab.envs.locomotion.go2_arm.manip_loco.Go2ArmManipLocoDRProvider

class unilab.envs.locomotion.go2_arm.manip_loco.Go2ArmManipLocoDRProvider[source]

Bases: LocomotionDRProvider

Parameters:

Methods

__init__(*[, base_kp, base_kd, ...])

build_init_randomization_plan(env)

build_interval_randomization_plan(env, ...)

build_reset_observation(env, env_ids, ...)

build_reset_plan(env, env_ids)

validate(env, capabilities)

__init__(*, base_kp=None, base_kd=None, base_body_mass=None, base_geom_friction=None, ground_geom_id=None, base_dof_armature=None)[source]
Parameters:
build_reset_plan(env, env_ids)[source]
Parameters:
Return type:

ResetPlan

build_init_randomization_plan(env)
Parameters:

env (Any)

Return type:

InitRandomizationPlan | None

build_interval_randomization_plan(env, step_counter)
Parameters:

  • env (Any)

  • step_counter (int)

Return type:

IntervalRandomizationPlan | None

build_reset_observation(env, env_ids, info_updates)
Parameters:
Return type:

dict[str, ndarray]

validate(env, capabilities)
Parameters:
Return type:

None