randomize_rigid_body_material failing

[jiwonyou0420]

I'm trying to add some domain randomization event terms to lift_env_cfg.py.

@configclass
class EventCfg:
    """Configuration for events."""

    reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")

    reset_object_position = EventTerm(
        func=mdp.reset_root_state_uniform,
        mode="reset",
        params={
            "pose_range": {"x": (-0.1, 0.1), "y": (-0.25, 0.25), "z": (0.0, 0.0)},
            "velocity_range": {},
            "asset_cfg": SceneEntityCfg("object", body_names="Object"),
        },
    )

   #newly added term
    robot_physics_material = EventTerm(
        func=mdp.randomize_rigid_body_material,
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
            "static_friction_range": (0.7, 1.3),
            "dynamic_friction_range": (1.0, 1.0),
            "restitution_range": (1.0, 1.0),
            "num_buckets": 250,
        },
    )

which gives

Exception has occurred: TypeError
randomize_rigid_body_material.__init__() got an unexpected keyword argument 'asset_cfg' 

It appears that all randomization functions in isaaclab.env.mdp.event work(such as reset_root_state_uniform), but some are defined as classes with init() and call(), which seems to be causing problem.

what is the proper way to add randomization classes(randomize_rigid_body_material, randomize_visual_texture_material, etc) to EventCfg?

setup: Isaac Sim 5.0 latest release, IsaacLab/feat/isaac_sim_5_0, ubuntu 22.04, driver 570, rtx 5080

[RandomOakForest]

Thank you for posting this. The error occurs because some “randomization functions” in isaaclab.envs.mdp.events are implemented as ManagerTerm classes (with init/call), not plain functions, so they expect their arguments as constructor kwargs, not via an asset_cfg keyword when used incorrectly as a callable signature mismatch inside EventTerm wiring. When using EventTerm, pass the params exactly as the class/function signature defines; for randomize_rigid_body_material specifically, the correct pattern is to provide asset_cfg and the ranges inside params.

Things to consider

1. Verify you are using the current version of Isaac Lab.

2. Double-check your import:

import isaaclab_tasks.manager_based.manipulation.lift.mdp as mdp

3. Open the source or API docs for randomize_rigid_body_material for your specific version and make sure the keys in params match what it expects.

4. Adjust the params keys if needed, or upgrade your Isaac Lab installation to the current version so that the modern code works as intended. See note Using Isaac Lab with Isaac Sim 5.0 in a Conda Environment #3021.

[shieldkeke]

Hi, I encountered the same issue yesterday. I suspect that this is not a randomize_rigid_body_material issue, but rather that there are other errors upstream, which cause this final error. To be specific, body_names="Object" in EventTerm reset_object_position is a bit strange, and it may cause problems with regular expression matching :)

Both of the following import statements work.

import isaaclab_tasks.manager_based.manipulation.lift.mdp as mdp

import isaaclab.envs.mdp as mdp

[RandomOakForest]

Thank you for following up. I will move this to our Discussions section, but if you have found a bug you can document, please open a bug report. Thank you.