isaaclab_physx.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 PhysX.

Classes:

randomize_rigid_body_material	PhysX backend implementation for material randomization.
randomize_rigid_body_collider_offsets	PhysX backend implementation for collider offset randomization.
randomize_physics_scene_gravity	Randomize scene-wide gravity, shared by every environment.
randomize_visual_color	Randomize USD mesh colors with Replicator.
randomize_visual_texture_material	Randomize USD mesh textures with Replicator.

class isaaclab_physx.envs.mdp.events.randomize_rigid_body_material

PhysX backend implementation for material randomization.

Uses the bucket-based approach required by PhysX’s 64000 unique material limit. Materials are pre-sampled into buckets and randomly assigned to shapes.

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_physx.envs.mdp.events.randomize_rigid_body_collider_offsets

PhysX backend implementation for collider offset randomization.

Uses rest offset and contact offset directly via the PhysX tensor API.

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_physx.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.

class isaaclab_physx.envs.mdp.events.randomize_visual_color

Randomize USD mesh colors with Replicator.

Methods:

__init__(cfg, env)

Initialize the randomization term.

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

Initialize the randomization term.

Parameters:

• cfg – The configuration of the event term.

• env – The environment instance.

class isaaclab_physx.envs.mdp.events.randomize_visual_texture_material

Randomize USD mesh textures with Replicator.

Methods:

__init__(cfg, env)

Initialize the term.

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

Initialize the term.

Parameters:

• cfg – The configuration of the event term.

• env – The environment instance.