in robogym/envs/dactyl/face_perpendicular.py [0:0]
def _get_default_wrappers(cls):
default_wrappers = super()._get_default_wrappers()
default_wrappers.update(
{
"default_observation_noise_levels": {
"fingertip_pos": {"uncorrelated": 0.002, "additive": 0.001},
"hand_angle": {"additive": 0.1, "uncorrelated": 0.1},
"cube_pos": {"additive": 0.005, "uncorrelated": 0.001},
"cube_quat": {"additive": 0.1, "uncorrelated": 0.09},
"cube_face_angle": {"additive": 0.1, "uncorrelated": 0.1},
},
"default_no_noise_levels": {
"fingertip_pos": {},
"hand_angle": {},
"cube_pos": {},
"cube_quat": {},
"cube_face_angle": {},
},
"default_observation_delay_levels": {
"interpolators": {
"cube_quat": "QuatInterpolator",
"cube_face_angle": "RadianInterpolator",
},
"groups": {
# Uncomment below to enable observation delay randomization.
# "vision": {
# "obs_names": ["cube_pos", "cube_quat"],
# "mean": 3,
# "std": 0.5,
# },
# "giiker": {
# "obs_names": ["cube_face_angle"],
# "mean": 1,
# "std": 0.2,
# },
# "phasespace": {
# "obs_names": ["fingertip_pos"],
# "mean": 0.5,
# "std": 0.1,
# }
},
},
"default_no_observation_delay_levels": {
"interpolators": {},
"groups": {},
},
"pre_obsnoise_randomizations": [
["RandomizedActionLatency"],
["RandomizedPerpendicularCubeSizeWrapper"],
["RandomizedBodyInertiaWrapper"],
["RandomizedTimestepWrapper"],
["RandomizedRobotFrictionWrapper"],
["RandomizedCubeFrictionWrapper"],
["RandomizedGravityWrapper"],
["RandomizedWindWrapper"],
["RandomizedPhasespaceFingersWrapper"],
["RandomizedRobotDampingWrapper"],
["RandomizedRobotKpWrapper"],
["RandomizedFaceDampingWrapper"],
["RandomizedJointLimitWrapper"],
["RandomizedTendonRangeWrapper"],
],
}
)
return default_wrappers