gym_ignition.randomizers.physics¶

gym_ignition.randomizers.physics.dart¶

class gym_ignition.randomizers.physics.dart.DART¶

Bases: gym_ignition.randomizers.abc.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 (Task) – A task containing a world object without physics.
Return type: None