unilab.envs.motion_tracking.g1.tracking.Domain_Rand

class unilab.envs.motion_tracking.g1.tracking.Domain_Rand[source]

Bases: object

Domain randomization config required by motrix backend hooks.

Parameters:

Methods

__init__([randomize_base_mass, ...])

Attributes

friction_geom_pattern

push_body_name

push_interval

push_robots

random_com

randomize_base_mass

randomize_geom_friction

randomize_gravity

randomize_joint_default_pos

randomize_kd

randomize_kp

added_mass_range

com_offset_x

com_offset_y

com_offset_z

gravity_range

max_force

kp_multiplier_range

kd_multiplier_range

friction_range

joint_default_pos_range

randomize_base_mass: bool = False
added_mass_range: list[float]
random_com: bool = False
com_offset_x: list[float]
com_offset_y: list[float]
com_offset_z: list[float]
randomize_gravity: bool = False
gravity_range: list[list[float]]
push_robots: bool = False
push_interval: int = 750
max_force: list[float]
push_body_name: str | None = None
randomize_kp: bool = False
kp_multiplier_range: list[float]
randomize_kd: bool = False
kd_multiplier_range: list[float]
randomize_geom_friction: bool = False
friction_range: list[float]
friction_geom_pattern: str = '^(left|right)_foot[1-7]_collision$'
randomize_joint_default_pos: bool = False
joint_default_pos_range: list[float]
__init__(randomize_base_mass=False, added_mass_range=<factory>, random_com=False, com_offset_x=<factory>, com_offset_y=<factory>, com_offset_z=<factory>, randomize_gravity=False, gravity_range=<factory>, push_robots=False, push_interval=750, max_force=<factory>, push_body_name=None, randomize_kp=False, kp_multiplier_range=<factory>, randomize_kd=False, kd_multiplier_range=<factory>, randomize_geom_friction=False, friction_range=<factory>, friction_geom_pattern='^(left|right)_foot[1-7]_collision$', randomize_joint_default_pos=False, joint_default_pos_range=<factory>)
Parameters: