deploy: f915491

Author: kellyguo11

main/_modules/isaaclab/envs/mdp/events.html

@@ -916,7 +916,13 @@ <h1>Source code for isaaclab.envs.mdp.events</h1><div class="highlight"><pre>
             <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
                 <span class="s2">&quot;Randomization term &#39;randomize_rigid_body_mass&#39; does not support operation:&quot;</span>
                 <span class="sa">f</span><span class="s2">&quot; &#39;</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="p">[</span><span class="s1">&#39;operation&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
-            <span class="p">)</span></div>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;min_mass&quot;</span><span class="p">)</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;min_mass&quot;</span><span class="p">)</span> <span class="o">&lt;</span> <span class="mf">1e-6</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="s2">&quot;Randomization term &#39;randomize_rigid_body_mass&#39; does not support &#39;min_mass&#39; less than 1e-6 to avoid&quot;</span>
+                    <span class="s2">&quot; physics errors.&quot;</span>
+                <span class="p">)</span></div>
 
     <span class="k">def</span><span class="w"> </span><span class="fm">__call__</span><span class="p">(</span>
         <span class="bp">self</span><span class="p">,</span>
@@ -927,6 +933,7 @@ <h1>Source code for isaaclab.envs.mdp.events</h1><div class="highlight"><pre>
         <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">],</span>
         <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;uniform&quot;</span><span class="p">,</span>
         <span class="n">recompute_inertia</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+        <span class="n">min_mass</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1e-6</span><span class="p">,</span>
     <span class="p">):</span>
         <span class="c1"># resolve environment ids</span>
         <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
@@ -954,6 +961,7 @@ <h1>Source code for isaaclab.envs.mdp.events</h1><div class="highlight"><pre>
         <span class="n">masses</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
             <span class="n">masses</span><span class="p">,</span> <span class="n">mass_distribution_params</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">body_ids</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span> <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span>
         <span class="p">)</span>
+        <span class="n">masses</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="n">masses</span><span class="p">,</span> <span class="nb">min</span><span class="o">=</span><span class="n">min_mass</span><span class="p">)</span>  <span class="c1"># ensure masses are positive</span>
 
         <span class="c1"># set the mass into the physics simulation</span>
         <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_masses</span><span class="p">(</span><span class="n">masses</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>