unilab.envs.motion_tracking.g1.tracking_obs.G1WBTObsDomainRandomizationProvider

class unilab.envs.motion_tracking.g1.tracking_obs.G1WBTObsDomainRandomizationProvider[source]

Bases: G1MotionTrackingDomainRandomizationProvider

Extends the SAC tracking DR provider with encoder bias, foot-geom friction, y/z COM offsets, and post-reset prev_dof_vel seeding.

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_geom_friction=None, foot_geom_ids=None)[source]
Parameters:
validate(env, capabilities)[source]
Parameters:
Return type:

None

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]