unilab.envs.mdp.events.RandomizeRigidBodyCom

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

Bases: _ResetRandomizationTerm

Community-compatible additive rigid-body CoM randomization.

The com_range param is re-resolved from the live term params on every apply (not cached at construction), so step-staged curricula can widen the range by updating the event term config between resets.

In startup mode the declared range is sampled once for every environment and the resulting full-width table is replayed; later curriculum changes do not retroactively alter the already-fixed per-env values.

Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

Attributes

name

num_envs

uses_startup_rows

uses_startup_rows = True
__init__(cfg, env)[source]
Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

__call__(env, env_ids, com_range, asset_cfg)[source]

Returns the value of the term required by the manager.

Parameters:
Return type:

None

property name: str
property num_envs: int