[Question] Is it possible to randomize gravity? #2661

Closed Answered by kellyguo11

H-Hisamichi asked this question in Q&A

H-Hisamichi
Jun 11, 2025

Hello everyone,

I'm working on training a robot to operate in non-Earth environments, so I would like to randomize gravity during training.
Howeverm, I couldn't find any documentation or examples related to gravity randomization.
Does the current version of Isaac Lab support gravity randomization?

Thank you!

Answered by kellyguo11

Yes, this is doable. Here's an example - https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py#L104

View full answer

Replies: 1 comment 1 reply

kellyguo11
Jun 11, 2025
Maintainer

Yes, this is doable. Here's an example - https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py#L104

1 reply

H-Hisamichi Jun 12, 2025
Author

Hi @kellyguo11,

Thank you for sharing that!
I have a question. Is the unit of gravity in this feature m/s^2 or is it based on Earth's gravity, like 1 G?

Answer selected by RandomOakForest

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment