Events

Manager: EventManager · Modules: env/mdp/assistive_wrench.py, mjlab DR helpers

Domain randomization and curriculum events in the base WBC template:

Event	Effect
assistive_wrench	External wrench on anchor body; gain β from RSI bin failure levels
push_robot	Impulsive base velocity perturbation
randomize_rigid_body_com	COM offset on selected bodies
randomize_foot_friction	Foot friction scaling
randomize_encoder_bias	Joint encoder bias

Play mode (play=True on env builders) typically disables push, motion pose/velocity DR, and assistive wrench — same pattern for every registered robot.

API: MDP terms (Events / assistive wrench).

Related: RSI (reference-state initialization), Motion command, Architecture overview.