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Introduced CoM randamization in manager based events. #1714

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shendredm wants to merge 4 commits into isaac-sim:main from shendredm:features

+52 −1

shendredm commented Jan 23, 2025

Description

Introduced CoM randomization in events.py for manager based envs. Individual range can be selected for individual axis and bodies.
Thanks to #641 and #693 for motivation of the code.

Type of change

New feature (non-breaking change which adds functionality)
This change requires a documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there


          introduced CoM randamization in events

c40862a

shendredm requested review from Mayankm96, jsmith-bdai, jtigue-bdai and kellyguo11 as code owners

January 23, 2025 18:46

Mayankm96 reviewed

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...i.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py Outdated Show resolved Hide resolved

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...i.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py Outdated Show resolved Hide resolved

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Contributor

Mayankm96 left a comment

Thanks a lot for making the MR. Please address the comments in the review

shendredm added 2 commits

January 27, 2025 20:45


          Applied suggested changes from PR

eca7df9


          func name chnaged to andomize_rigid_body_mass

cd10870

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shendredm left a comment

Hi , I've made the suggested changes. Could you please review them when you get a chance? Thanks


          Merge branch 'isaac-sim:main' into features

d907e7b

jtigue-bdai approved these changes

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jtigue-bdai left a comment

LGTM, thanks!

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