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[BUG FIX] fix set mass #605

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YilingQiao wants to merge 2 commits into Genesis-Embodied-AI:main from YilingQiao:yiling/240117_fix_set_mass

+25 −5

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YilingQiao commented Jan 18, 2025 •

edited

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You can try

    # set mass of a single link
    link = robot.get_link("RR_thigh")
    rigid = scene.sim.rigid_solver
    ori_mass = rigid.links_info.inertial_mass.to_numpy()
    print("original mass", link.get_mass(), ori_mass)
    link.set_mass(1)
    new_mass = rigid.links_info.inertial_mass.to_numpy()
    print("diff mass", new_mass - ori_mass)

in

python examples/rigid/domain_randomization.py


          fix set mass

48ecd6e

YilingQiao requested a review from ziyanx02

January 18, 2025 05:16


          set mass

03a1aff

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