Event Functors

Event Functors#

This page lists all available event functors that can be used with the Event Manager. Event functors are configured using EventCfg and can be triggered at different stages: startup, reset, or interval.

Physics Randomization#

Physics Randomization Functors#

Functor Name

Description

randomize_rigid_object_mass

Randomize object masses within a specified range. Supports both absolute and relative mass randomization.

Visual Randomization#

Visual Randomization Functors#

Functor Name

Description

randomize_visual_material

Randomize textures, base colors, and material properties (metallic, roughness, IOR). Implemented as a Functor class. Supports both RigidObject and Articulation assets.

randomize_light

Vary light position, color, and intensity within specified ranges.

randomize_camera_extrinsics

Randomize camera poses for viewpoint diversity. Supports both attach mode (pos/euler perturbation) and look_at mode (eye/target/up perturbation).

randomize_camera_intrinsics

Vary focal length (fx, fy) and principal point (cx, cy) within specified ranges.

Spatial Randomization#

Spatial Randomization Functors#

Functor Name

Description

randomize_rigid_object_pose

Randomize object positions and orientations. Supports both relative and absolute pose randomization.

randomize_robot_eef_pose

Vary end-effector initial poses by solving inverse kinematics. The randomization is performed relative to the current end-effector pose.

randomize_robot_qpos

Randomize robot joint configurations. Supports both relative and absolute joint position randomization, and can target specific joints.

Asset Management#

Asset Management Functors#

Functor Name

Description

replace_assets_from_group

Swap object models from a folder on reset for visual diversity. Currently supports RigidObject assets with mesh-based shapes.

prepare_extra_attr

Set up additional object attributes dynamically. Supports both static values and callable functions. Useful for setting up affordance data and other custom attributes.

Usage Example#

from embodichain.lab.gym.envs.managers.cfg import EventCfg, SceneEntityCfg

# Example: Randomize object mass on reset
events = {
    "randomize_mass": EventCfg(
        func="randomize_rigid_object_mass",
        mode="reset",
        params={
            "entity_cfg": SceneEntityCfg(uid="cube"),
            "mass_range": (0.1, 2.0),
            "relative": False,
        },
    ),
}
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