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unilab.tasks.locomotion.go2w.manager_terms.randomize_motor_gains¶

unilab.tasks.locomotion.go2w.manager_terms.randomize_motor_gains(env, env_ids, action_name, kp_multiplier_range, kd_multiplier_range)[source]¶

Sample owner-level motor gains without mutating backend actuator models.

Parameters:

env (ManagerBasedRlEnv)
env_ids (ndarray | None)
action_name (str)
kp_multiplier_range (tuple[float, float] | list[float])
kd_multiplier_range (tuple[float, float] | list[float])

Return type:

None