unilab.envs.mdp.events.RandomizeRigidBodyMass

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

Bases: ManagerTermBase

Community-compatible body-mass randomization via the reset payload.

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, asset_cfg, mass_distribution_params, operation, distribution='uniform', recompute_inertia=True, min_mass=1e-06)[source]

Returns the value of the term required by the manager.

Parameters:

  • env (ManagerBasedRlEnv)

  • env_ids (ndarray | None)

  • asset_cfg (SceneEntityCfg)

  • mass_distribution_params (tuple[float, float])

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

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

  • recompute_inertia (bool)

  • min_mass (float)

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