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Prevent randomizing mass to zero or less #4060

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Prevent randomizing mass to zero or less #4060

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858287d
prevent setting masses less that zero
jtigue-bdai Nov 21, 2025
d44dfbc
changelog and version
jtigue-bdai Nov 21, 2025
9777dbb
extenstion toml
jtigue-bdai Nov 21, 2025
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9 changes: 9 additions & 0 deletions source/isaaclab/docs/CHANGELOG.rst
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Original file line number Diff line number Diff line change
@@ -1,6 +1,15 @@
Changelog
---------

0.48.6 (2025-11-21)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Prevent randomizing mass to zero in :meth:`~isaaclab.envs.mdp.events.randomize_mass_by_scale` to avoid physics errors.


0.48.5 (2025-11-14)
~~~~~~~~~~~~~~~~~~~

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1 change: 1 addition & 0 deletions source/isaaclab/isaaclab/envs/mdp/events.py
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Expand Up @@ -360,6 +360,7 @@ def __call__(
masses = _randomize_prop_by_op(
masses, mass_distribution_params, env_ids, body_ids, operation=operation, distribution=distribution
)
masses = torch.clamp(masses, min=1e-6) # ensure masses are positive
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@Mayankm96 Mayankm96 Nov 23, 2025

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Maybe good to have as an arg?


# set the mass into the physics simulation
self.asset.root_physx_view.set_masses(masses, env_ids)
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