unilab.envs.motion_tracking.g1.box_tracking.G1BoxTrackingDomainRandomizationProvider

class unilab.envs.motion_tracking.g1.box_tracking.G1BoxTrackingDomainRandomizationProvider[source]

Bases: G1MotionTrackingDomainRandomizationProvider

Reset provider that restores both robot and object state from motion data.

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)

build_reset_plan(env, env_ids)[source]
Parameters:
Return type:

ResetPlan

__init__(*, base_kp=None, base_kd=None, base_geom_friction=None, foot_geom_ids=None)
Parameters:
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