unilab.envs.mdp.events.RandomizeRigidBodyCom

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

Bases: ManagerTermBase

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.

Parameters:

  • cfg (EventTermCfg)

  • env (ManagerBasedRlEnv)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__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
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any