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unilab.envs.mdp.events.RandomizePhysicsSceneGravity

class unilab.envs.mdp.events.RandomizePhysicsSceneGravity

Bases: ManagerTermBase

Community-compatible gravity randomization through reset transactions.

Parameters:

• cfg (EventTermCfg)

• env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)
reset(env_ids)	Resets the manager term.

Attributes

name
num_envs

__init__(cfg, env)

Parameters:

• cfg (EventTermCfg)

• env (ManagerBasedRlEnv)

__call__(env, env_ids, gravity_distribution_params, operation, distribution='uniform')

Returns the value of the term required by the manager.

Parameters:

• env (ManagerBasedRlEnv)

• env_ids (ndarray | None)

• gravity_distribution_params (tuple[list[float], list[float]])

• operation (Literal['add', 'scale', 'abs'])

• distribution (Literal['uniform', 'log_uniform', 'gaussian'])

Return type:

None

property name: str

property num_envs: int

reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any