Return the recorder term registered under ``name``. Use this to reach a recorder's public methods (e.g. to start/stop logging) from outside t

List all registered task IDs.

Recompute derived model constants after domain randomization. Args: level: Which constants to recompute. ``set_const`` is the most

Run one environment step: apply actions, simulate, compute RL signals. When ``auto_reset=True`` (default), environments that terminate or time ou

Apply external wrenches to bodies in the simulation. Underneath the hood, this sets the `xfrc_applied` field in the MuJoCo data structure. Th

Match the shipped config: yaw alignment, max_distance=1.0, group 0.

Return ``[(path, body), ...]`` for the recursive body tree. Path is the body's path relative to the variant root (e.g. ``/prop``, ``/prop/lid``),

Build mocked env + upright reward instance. Args: terrain_sensor_names: If set, enables terrain-aware mode. body_quat_w: [B, 4] root orient

Create a model with all 5 site types.

Return default model values indexed as ``(env, entity, ...)``. Standard model defaults are stored as ``(nentity, ...)`` and are shared by every e

Accumulate per-substep metric values inside the decimation loop. No-op when no ``per_substep`` terms are configured.

Fit a plane normal from 3D points via covariance eigendecomposition. Args: points: [B, N, 3] world-frame positions. valid_mask: [B, N] bool

Get the environment indices to visualize. This helper method handles the show_all_envs logic so implementations don't need to repeat this boi

Create mock environment.

Forward to each term's :meth:`RecorderTerm.record_post_step`.

Return ``env_ids`` unchanged, or all environment indices if ``None``. Event functions receive ``env_ids=None`` to mean "all environments" (a full

Resolve a field value (scalar or dict) to a tuple of values matched by patterns.

Match a list of regular expressions in a dictionary against a list of strings and return the matched indices, names, and values. If the :attr

Create or update the batched mesh handle.

Create a mock env with Builtin, Xml, and Ideal actuators for effort tests.

Create an env with all inertia-related fields expanded.

Scene submits at 30Hz (every other 60Hz tick) with pause-aware gating.

Single-geom sphere for simple tests.

True if any variant leaves the slot at ``slot_index`` unfilled.

Step with zero actions until at least one env is done. Return step outputs.

Sync visually relevant per-world model fields into the host MjModel.

Convert rotations given as quaternions to axis/angle. Args: quat: The quaternion orientation in (w, x, y, z). Shape is (..., 4).

Convert cvel quantities to world-frame velocities.

Configure PyTorch CUDA and cuDNN backends for performance/reproducibility. Args: allow_tf32: If True, use TF32 precision for faster computation

Find flat patches on a heightfield surface using morphological filtering. Slides a circular footprint over every pixel and keeps those where the

Store the raw policy output and route slices to each action term. Called once per policy step. The raw action tensor is saved into the histor

Computes the inverse of a quaternion. Args: q: The quaternion orientation in (w, x, y, z). Shape is (N, 4). eps: A small value to

Run the viewer (blocks until server is stopped).

Create a single-ring pattern. Args: radius: Ring radius in meters. num_samples: Number of evenly spaced points on the ring. inc

Run simulation steps to allow physics to stabilize and contacts to form. Useful after placing objects to let them fall under gravity and establish

Update scene and sync debug visualizations.

Convert actuator targets into low-level controls and write them to the sim. Called before each ``sim.step()`` within the decimation loop. Builtin

Compute flat patches for a heightfield terrain if configured.

Get a cached tensor for the given parameter on the specified device.

Resolve ONNX export paths from a checkpoint path.

Create a mock env with Builtin, Xml, and Ideal actuators for PD tests.

Sample uniform ``[x, y, z, roll, pitch, yaw]`` offsets. ``range_dict`` maps any subset of those keys to ``(min, max)`` ranges; missing keys defau

Build a real scene/sim with one BuiltinPd-driven entity for DR tests.

Clear debug visualizations by resetting geom count.

Build a height-colored texture for a heightfield. Diverging colormap anchored at the ground plane (z=0): cool blue below ground, green at z=0, wa

Run one DLS IK step and return joint displacement. Returns: Joint displacement tensor of shape ``(num_envs, num_joints)``.

Create a floating-base entity.

Edit the scene spec to add this sensor. This is called during scene construction to add sensor elements to the MjSpec. Args: scene

Generate terrain geometry. Returns: TerrainOutput containing spawn origin and list of geometries.

Initialize an entity with a simulation.

Convert list to CSV string with specified decimal precision.

Create and initialize entity.

Create a seeded generator for reproducible tests.

Computes the conjugate of a quaternion. Args: q: The quaternion orientation in (w, x, y, z). Shape is (..., 4). Returns: The

Computes the rotation difference between two quaternions. Args: q1: The first quaternion in (w, x, y, z). Shape is (..., 4). q2:

Resolve a string or Distribution instance to a Distribution. Raises: ValueError: If the string does not match a built-in distribution name.

Set delay lag values for specified environments. Built-in actuators with the same delay config share a fused delay buffer for performance. Ca

Copy per-world model fields from sim_model[env_idx] into dst_model.

Create Unitree G1 flat terrain tracking configuration.

Create Unitree Go1 rough terrain velocity configuration.

Prevent attribute setting to maintain CUDA graph safety.