gym_gz.randomizers.physics

gym_gz.randomizers.physics.dart

class gym_gz.randomizers.physics.dart.DART

Bases: PhysicsRandomizer

Class that configures the Gazebo World of a Task to use the DART physics engine.

Note

This class does not apply any physics randomization.

get_engine()

Return the physics engine to use for the rollout.

Note

Supported physics engines:

• scenario.bindings.gazebo.PhysicsEngine_dart

Returns:

The desired physics engine to set in the world.

randomize_physics(task, **kwargs)

Method that insert and configures the physics of a Task’s world.

By default this method loads a plugin that uses DART with no randomizations. Randomizing physics engine parameters or changing physics engine backend could be done by redefining this method and passing it to GazeboRuntime.

Parameters:

task () – A task containing a world object without physics.

Return type: