Ground-mode modal-transition events.
Functions:
| Name | Description |
|---|---|
randomize_ground_actuator_params |
Randomize the ground actuator adapter attached to an action term. |
hold_joint_position_target |
Re-assert a fixed joint position target on reset. |
scale_body_inertia |
Apply scalar or per-axis Isaac inertia scales from the default tensor. |
randomize_ground_actuator_params(env: ManagerBasedRLEnv, env_ids, action_term_name: str = 'ground_control_action', actuator_attr: str = '_actuator_adapter', param_range: dict[str, tuple[float, float] | float] | None = None) -> None
Randomize the ground actuator adapter attached to an action term.
hold_joint_position_target(env: ManagerBasedRLEnv, env_ids, target_pos: float, joint_names: list[str], asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> None
Re-assert a fixed joint position target on reset.
ArticulationCfg.InitialStateCfg.joint_pos sets the initial joint state,
not the actuator target. For joints driven by a stiff position actuator that
are not policy-controlled — e.g. ATMO's base_to_arm[l,r] locked at 90 deg
for the ground-mode modal transition — the drive target defaults to 0 and the
actuator yanks the joint out of its init pose (arms snap back to the 0-deg
flight pose, dropping the chassis onto the ground). This event writes the
position target back to target_pos each reset so the actuator holds the
configured pose for the episode; the target persists across steps because the
action manager never commands these joints.
scale_body_inertia(env: ManagerBasedRLEnv, env_ids, scale: float | tuple[float, float] | tuple[tuple[float, float], tuple[float, float], tuple[float, float]], asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> None
Apply scalar or per-axis Isaac inertia scales from the default tensor.