isaaclab_ov.envs.mdp

Backend implementations used by the shared isaaclab.envs.mdp event terms. Configure tasks through the shared terms.

Backend implementations of MDP event terms for OVPhysX.

Classes:

randomize_rigid_body_material	Assign sampled material buckets to collision shapes.
randomize_rigid_body_collider_offsets	Randomize rest and contact offsets through the asset's OVPhysX bindings.
randomize_physics_scene_gravity	Randomize scene-wide gravity, shared by every environment.

class isaaclab_ov.envs.mdp.events.randomize_rigid_body_material

Assign sampled material buckets to collision shapes.

Buckets are sampled once to respect PhysX’s 64000-material limit. Whole articulations use the articulation binding; body subsets use rigid-body bindings for the selected links.

Methods:

__init__(cfg, env)

Sample material buckets and bind the asset shapes.

__init__(cfg: EventTermCfg, env: ManagerBasedEnv) → None

Sample material buckets and bind the asset shapes.

Parameters:

• cfg – Event configuration.

• env – Environment owning this term.

class isaaclab_ov.envs.mdp.events.randomize_rigid_body_collider_offsets

Randomize rest and contact offsets through the asset’s OVPhysX bindings.

Offset buffers have shape [N, S] and reside on the CPU. Indexed writes require the full buffer, including unselected environments.

Methods:

__init__(cfg, env)

Cache the asset's collider offsets.

__init__(cfg: EventTermCfg, env: ManagerBasedEnv) → None

Cache the asset’s collider offsets.

Parameters:

• cfg – Event configuration.

• env – Environment owning this term.

class isaaclab_ov.envs.mdp.events.randomize_physics_scene_gravity

Randomize scene-wide gravity, shared by every environment.

Environment IDs do not restrict this global operation. Add and scale start from configured gravity each call. Distribution is fixed at construction; distribution parameters [m/s^2] may change at runtime.

Methods:

__init__(cfg, env)

Initialize gravity sampling for the active simulation.

__init__(cfg: EventTermCfg, env: ManagerBasedEnv) → None

Initialize gravity sampling for the active simulation.

Parameters:

• cfg – Event configuration.

• env – Environment owning this term.