unilab.envs.mdp.events.JointArmature

class unilab.envs.mdp.events.JointArmature[source]

Bases: _ModelFieldRandomizer

Pinned mjlab-style joint armature randomization through the reset payload.

Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__call__(env, env_ids, ranges, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False), distribution='uniform', operation='abs', axes=None, shared_random=False)

Returns the value of the term required by the manager.

Parameters:
Return type:

None

__init__(cfg, env)
Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

property name: str
property num_envs: int
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any