def build_simulation_randomizers()

in robogym/envs/rearrange/common/base.py [0:0]

• 84 lines of code
• 1 McCabe index (conditional complexity)

    def build_simulation_randomizers(cls, constants):
        return [
            GravityRandomizer(),
            JointMarginRandomizer(),
            GenericSimRandomizer(
                name="dof_frictionloss_robot",
                field_name="dof_frictionloss",
                dof_jnt_prefix="robot0:",
                apply_mode="uncoupled_mean_variance",
            ),
            GenericSimRandomizer(
                name="dof_damping_robot",
                field_name="dof_damping",
                dof_jnt_prefix="robot0:",
                apply_mode="uncoupled_mean_variance",
            ),
            GenericSimRandomizer(
                name="dof_armature_robot",
                field_name="dof_armature",
                dof_jnt_prefix="robot0:",
                apply_mode="uncoupled_mean_variance",
            ),
            GenericSimRandomizer(
                name="jnt_stiffness_robot",
                field_name="jnt_stiffness",
                jnt_prefix="robot0:",
                apply_mode="variance_mean_additive",
                coef=0.005,
                positive_only=True,
            ),
            GenericSimRandomizer(
                name="body_pos_robot",
                field_name="body_pos",
                body_prefix="robot0:",
                apply_mode="variance_additive",
                coef=0.02,
            ),
            PidRandomizer("pid_kp"),
            PidRandomizer("pid_ti"),
            PidRandomizer("pid_td"),
            PidRandomizer("pid_imax_clamp"),
            PidRandomizer("pid_error_deadband"),
            GenericSimRandomizer(
                name="actuator_forcerange",
                field_name="actuator_forcerange",
                apply_mode="uncoupled_mean_variance",
            ),
            GeomSolimpRandomizer(),
            GeomSolrefRandomizer(),
            GenericSimRandomizer(
                name="geom_margin",
                field_name="geom_margin",
                apply_mode="variance_additive",
                coef=0.0005,
            ),
            GenericSimRandomizer(
                name="geom_pos",
                field_name="geom_pos",
                apply_mode="variance_additive",
                coef=0.002,
            ),
            GenericSimRandomizer(
                name="geom_gap",
                field_name="geom_gap",
                apply_mode="max_additive",
                coef=0.01,
            ),
            GenericSimRandomizer(
                name="geom_friction",
                field_name="geom_friction",
                apply_mode="uncoupled_mean_variance",
            ),
            GenericSimRandomizer(
                name="body_mass",
                field_name="body_mass",
                apply_mode="uncoupled_mean_variance",
                zero_threshold=0.208,
            ),
            GenericSimRandomizer(
                name="body_inertia",
                field_name="body_inertia",
                apply_mode="variance_additive",
            ),
        ]