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dr_config_instructions.md

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Configure Domain Randomization Range

  • To add a new set of Domain Randomization parameters edit training/utils/dr_config.json
  • To chose a set of Domain Randomization parameters use argument --dr_params_set=[PARAMS_SET_NAME]

dr_config reference

  • tex_mod
    Includes all texture randomization parameters.
    • active
      Enables and disables the texture randomization
    • geoms
      List of geom names. If included each geom in the list will be set with a unique randomized texture.
    • modes
      List of texture of randomization modes to be used. Choose from "checker", "gradient", "rgb", "noise"
  • color_mod
    Includes all color randomization parameters
    • active
      Enables and disables the color randomization. If no other parameters is specified under color_mod, the module will set each geom in the environment to a unique randomized color.
    • partial_body_change (optional)
      2d list of geom_ids. If included each geoms in each sublist will be set to a randomized color each episode
    • full_body_change (optional)
      If included and set to true all geoms in the environment will be set to a unified random color
    • geoms_change (optional)
      List of geom names. If included only the geoms in the list will have randomized colors and each geom's color will be unique.
  • light_mod
    Includes all light randomization parameters
    • active
      Enables and disables the light randomization.
    • pos_range
      2d-list of randomization range of light position shift in xyz coordinate
    • spec_range, diffuse_range, ambient_range
      Randomization range of the specular, diffuse, and ambient component of the li
    • head_light
      Enables and disables the randomization on headlight.
  • camera_mod
    Includes all viewpoint randomization parameters
    • active
      Enables and disables the viewpoint randomization.
    • use_default
      Specifies if the environment is using the default camera
    • fovy_range
      Randomization range of fovy.
    • veiwer_cam_param_targets
      Required only if default camera is used. Includes all the randomization ranges for all attributes in viewer.
    • cam_name
      Required only if default camera is not used. Specifies the name of camera being used.
    • pos_change_range
      2d-list of randomization range of light viewpoint shift in xyz coordinate.
    • ang_jitter_range
      2d-list of randomization range of camera angle jitter in Euler angles.
  • dynamics_mod
    Includes all dynamics randomization parameters
    • active
      Enables and disables the dynamics randomization.
    • mass_targets
      (optional) Include a dictionary of all bodies to need to be randomized and their mass randomization parameters
      • range
        Randomization range of body mass.
      • inerta_reset
        If set to true body inertia will be set to match the randomized body mass
    • friction_targets (optional)
      Include a dictionary of all geoms to be randomized and their friction randomization parameters
      • range
        Randomization range of geom friction.
    • action_mod (optional)
      • bias
        Randomization range of action bias.
      • theta
        Randomization range of action rotation.
    • armature_multiplier (optional)
      Randomization range of armature proportional to the current armature value.