Adds flag to recompute inertia when randomizing the mass of a rigid body #989
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Mayankm96
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source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py
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Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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…ody (isaac-sim#989) # Description Previously, the method for randomizing masses of rigid bodies only set the masses. However, the inertia tensors were not automatically updated, and their original values were used inside the solver. This MR adds a flag to recompute the inertia when mass is randomized by assuming a uniform-density object. We make this an optional flag in case users want to handle inertia tensors explicitly on their own. ## Type of change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
Previously, the method for randomizing masses of rigid bodies only set the masses. However, the inertia tensors were not automatically updated, and their original values were used inside the solver. This MR adds a flag to recompute the inertia when mass is randomized by assuming a uniform-density object. We make this an optional flag in case users want to handle inertia tensors explicitly on their own.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there