Language

unilab.envs.manipulation.sharpa_inhand.base.SharpaDomainRandConfig¶

class unilab.envs.manipulation.sharpa_inhand.base.SharpaDomainRandConfig[source]¶

Bases: object

SharpaDomainRandConfig(scale_list: ‘list[float]’ = <factory>, randomize_base_mass: ‘bool’ = False, added_mass_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_gravity_direction: ‘bool’ = False, gravity_direction_magnitude: ‘float’ = 9.81, randomize_pd_gains: ‘bool’ = True, randomize_p_gain_scale_lower: ‘float’ = 0.5, randomize_p_gain_scale_upper: ‘float’ = 2.0, randomize_d_gain_scale_lower: ‘float’ = 0.5, randomize_d_gain_scale_upper: ‘float’ = 2.0, randomize_friction: ‘bool’ = True, randomize_friction_scale_lower: ‘float’ = 0.5, randomize_friction_scale_upper: ‘float’ = 2.0, elastomer_base_friction: ‘float’ = 1.6, metal_base_friction: ‘float’ = 0.2, object_base_friction: ‘float’ = 1.0, randomize_com: ‘bool’ = True, randomize_com_lower: ‘float’ = -0.01, randomize_com_upper: ‘float’ = 0.01, randomize_mass: ‘bool’ = True, randomize_mass_lower: ‘float’ = 0.01, randomize_mass_upper: ‘float’ = 0.25, force_scale: ‘float’ = 2.0, random_force_prob_scalar: ‘float’ = 0.25, force_decay: ‘float’ = 0.9, force_decay_interval: ‘float’ = 0.08, joint_noise_scale: ‘float’ = 0.02, contact_latency: ‘float’ = 0.005, contact_sensor_noise: ‘float’ = 0.01, push_body_name: ‘str | None’ = None)

Parameters:

scale_list (list[float])
randomize_base_mass (bool)
added_mass_range (list[float])
random_com (bool)
com_offset_x (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
randomize_gravity_direction (bool)
gravity_direction_magnitude (float)
randomize_pd_gains (bool)
randomize_p_gain_scale_lower (float)
randomize_p_gain_scale_upper (float)
randomize_d_gain_scale_lower (float)
randomize_d_gain_scale_upper (float)
randomize_friction (bool)
randomize_friction_scale_lower (float)
randomize_friction_scale_upper (float)
elastomer_base_friction (float)
metal_base_friction (float)
object_base_friction (float)
randomize_com (bool)
randomize_com_lower (float)
randomize_com_upper (float)
randomize_mass (bool)
randomize_mass_lower (float)
randomize_mass_upper (float)
force_scale (float)
random_force_prob_scalar (float)
force_decay (float)
force_decay_interval (float)
joint_noise_scale (float)
contact_latency (float)
contact_sensor_noise (float)
push_body_name (str | None)

Methods

__init__([scale_list, randomize_base_mass, ...])

Attributes

`contact_latency`
`contact_sensor_noise`
`elastomer_base_friction`
`force_decay`
`force_decay_interval`
`force_scale`
`gravity_direction_magnitude`
`joint_noise_scale`
`metal_base_friction`
`object_base_friction`
`push_body_name`
`random_com`
`random_force_prob_scalar`
`randomize_base_mass`
`randomize_com`
`randomize_com_lower`
`randomize_com_upper`
`randomize_d_gain_scale_lower`
`randomize_d_gain_scale_upper`
`randomize_friction`
`randomize_friction_scale_lower`
`randomize_friction_scale_upper`
`randomize_gravity`
`randomize_gravity_direction`
`randomize_mass`
`randomize_mass_lower`
`randomize_mass_upper`
`randomize_p_gain_scale_lower`
`randomize_p_gain_scale_upper`
`randomize_pd_gains`
`scale_list`
`added_mass_range`
`com_offset_x`
`gravity_range`

scale_list: list[float]¶

randomize_base_mass: bool = False¶

added_mass_range: list[float]¶

random_com: bool = False¶

com_offset_x: list[float]¶

randomize_gravity: bool = False¶

gravity_range: list[list[float]]¶

randomize_gravity_direction: bool = False¶

gravity_direction_magnitude: float = 9.81¶

randomize_pd_gains: bool = True¶

randomize_p_gain_scale_lower: float = 0.5¶

randomize_p_gain_scale_upper: float = 2.0¶

randomize_d_gain_scale_lower: float = 0.5¶

randomize_d_gain_scale_upper: float = 2.0¶

randomize_friction: bool = True¶

randomize_friction_scale_lower: float = 0.5¶

randomize_friction_scale_upper: float = 2.0¶

elastomer_base_friction: float = 1.6¶

metal_base_friction: float = 0.2¶

object_base_friction: float = 1.0¶

randomize_com: bool = True¶

randomize_com_lower: float = -0.01¶

randomize_com_upper: float = 0.01¶

randomize_mass: bool = True¶

randomize_mass_lower: float = 0.01¶

randomize_mass_upper: float = 0.25¶

force_scale: float = 2.0¶

random_force_prob_scalar: float = 0.25¶

force_decay: float = 0.9¶

force_decay_interval: float = 0.08¶

joint_noise_scale: float = 0.02¶

contact_latency: float = 0.005¶

contact_sensor_noise: float = 0.01¶

push_body_name: str | None = None¶

__init__(scale_list=<factory>, randomize_base_mass=False, added_mass_range=<factory>, random_com=False, com_offset_x=<factory>, randomize_gravity=False, gravity_range=<factory>, randomize_gravity_direction=False, gravity_direction_magnitude=9.81, randomize_pd_gains=True, randomize_p_gain_scale_lower=0.5, randomize_p_gain_scale_upper=2.0, randomize_d_gain_scale_lower=0.5, randomize_d_gain_scale_upper=2.0, randomize_friction=True, randomize_friction_scale_lower=0.5, randomize_friction_scale_upper=2.0, elastomer_base_friction=1.6, metal_base_friction=0.2, object_base_friction=1.0, randomize_com=True, randomize_com_lower=-0.01, randomize_com_upper=0.01, randomize_mass=True, randomize_mass_lower=0.01, randomize_mass_upper=0.25, force_scale=2.0, random_force_prob_scalar=0.25, force_decay=0.9, force_decay_interval=0.08, joint_noise_scale=0.02, contact_latency=0.005, contact_sensor_noise=0.01, push_body_name=None)¶

Parameters:

scale_list (list[float])
randomize_base_mass (bool)
added_mass_range (list[float])
random_com (bool)
com_offset_x (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
randomize_gravity_direction (bool)
gravity_direction_magnitude (float)
randomize_pd_gains (bool)
randomize_p_gain_scale_lower (float)
randomize_p_gain_scale_upper (float)
randomize_d_gain_scale_lower (float)
randomize_d_gain_scale_upper (float)
randomize_friction (bool)
randomize_friction_scale_lower (float)
randomize_friction_scale_upper (float)
elastomer_base_friction (float)
metal_base_friction (float)
object_base_friction (float)
randomize_com (bool)
randomize_com_lower (float)
randomize_com_upper (float)
randomize_mass (bool)
randomize_mass_lower (float)
randomize_mass_upper (float)
force_scale (float)
random_force_prob_scalar (float)
force_decay (float)
force_decay_interval (float)
joint_noise_scale (float)
contact_latency (float)
contact_sensor_noise (float)
push_body_name (str | None)