Language

unilab.envs.motion_tracking.g1.tracking_obs.ObsDomainRand¶

class unilab.envs.motion_tracking.g1.tracking_obs.ObsDomainRand[source]¶

Bases: Domain_Rand

y / z COM offsets, per-episode encoder bias, foot-geom friction.

Parameters:

randomize_base_mass (bool)
added_mass_range (list[float])
random_com (bool)
com_offset_x (list[float])
com_offset_y (list[float])
com_offset_z (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
push_robots (bool)
push_interval (int)
max_force (list[float])
push_body_name (str | None)
randomize_kp (bool)
kp_multiplier_range (list[float])
randomize_kd (bool)
kd_multiplier_range (list[float])
randomize_geom_friction (bool)
friction_range (list[float])
friction_geom_pattern (str)
randomize_joint_default_pos (bool)
joint_default_pos_range (list[float])
randomize_com_y (bool)
randomize_com_z (bool)
enable_encoder_bias (bool)
encoder_bias_range (list[float])

Methods

__init__([randomize_base_mass, ...])

Attributes

`enable_encoder_bias`
`friction_geom_pattern`
`push_body_name`
`push_interval`
`push_robots`
`random_com`
`randomize_base_mass`
`randomize_com_y`
`randomize_com_z`
`randomize_geom_friction`
`randomize_gravity`
`randomize_joint_default_pos`
`randomize_kd`
`randomize_kp`
`com_offset_y`
`com_offset_z`
`encoder_bias_range`
`friction_range`
`added_mass_range`
`com_offset_x`
`gravity_range`
`max_force`
`kp_multiplier_range`
`kd_multiplier_range`
`joint_default_pos_range`

randomize_com_y: bool = False¶

com_offset_y: list[float]¶

randomize_com_z: bool = False¶

com_offset_z: list[float]¶

enable_encoder_bias: bool = False¶

encoder_bias_range: list[float]¶

randomize_geom_friction: bool = False¶

friction_range: list[float]¶

friction_geom_pattern: str = '^(left|right)_foot[1-7]_collision$'¶

__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>, randomize_com_y=False, randomize_com_z=False, enable_encoder_bias=False, encoder_bias_range=<factory>)¶

Parameters:

randomize_base_mass (bool)
added_mass_range (list[float])
random_com (bool)
com_offset_x (list[float])
com_offset_y (list[float])
com_offset_z (list[float])
randomize_gravity (bool)
gravity_range (list[list[float]])
push_robots (bool)
push_interval (int)
max_force (list[float])
push_body_name (str | None)
randomize_kp (bool)
kp_multiplier_range (list[float])
randomize_kd (bool)
kd_multiplier_range (list[float])
randomize_geom_friction (bool)
friction_range (list[float])
friction_geom_pattern (str)
randomize_joint_default_pos (bool)
joint_default_pos_range (list[float])
randomize_com_y (bool)
randomize_com_z (bool)
enable_encoder_bias (bool)
encoder_bias_range (list[float])

push_body_name: str | None = None¶

push_interval: int = 750¶

push_robots: bool = False¶

random_com: bool = False¶

randomize_base_mass: bool = False¶

randomize_gravity: bool = False¶

randomize_joint_default_pos: bool = False¶

randomize_kd: bool = False¶

randomize_kp: bool = False¶

added_mass_range: list[float]¶

com_offset_x: list[float]¶

gravity_range: list[list[float]]¶

max_force: list[float]¶

kp_multiplier_range: list[float]¶

kd_multiplier_range: list[float]¶

joint_default_pos_range: list[float]¶