Functions — github.com/mujocolab/mjlab

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Functions2,812 in github.com/mujocolab/mjlab

⨍ Functions 2,812◇ Types & classes 316↳ Endpoints 15

Function_prefixed_entity_spec

Entity spec that composes a sub-model via internal attach.

tests/test_actuator.py:111

Method_prepare_terms

(self)

src/mjlab/managers/termination_manager.py:131

Method_prepare_terms

(self)

src/mjlab/managers/curriculum_manager.py:119

Method_prepare_terms

(self)

src/mjlab/managers/recorder_manager.py:212

Method_prepare_terms

(self)

src/mjlab/managers/event_manager.py:341

Method_prepare_terms

(self)

src/mjlab/managers/action_manager.py:197

Method_prepare_terms

(self)

src/mjlab/managers/reward_manager.py:165

Method_prepare_terms

(self)

src/mjlab/managers/command_manager.py:262

Method_prepare_terms

(self)

src/mjlab/managers/metrics_manager.py:175

Method_prepare_terms

(self)

src/mjlab/managers/observation_manager.py:389

Method_process_actions

Process queued actions and sync UI state.

src/mjlab/viewer/viser/viewer.py:341

Method_resample_command

(self, env_ids: torch.Tensor)

src/mjlab/tasks/velocity/mdp/velocity_command.py:75

Method_resample_command

(self, env_ids: torch.Tensor)

src/mjlab/tasks/manipulation/mdp/commands.py:58

Method_resample_command

(self, env_ids: torch.Tensor)

src/mjlab/tasks/manipulation/mdp/commands.py:187

Function_reward_func

(env)

tests/test_envs_curriculums.py:14

Method_safe_key_callback

Runs on MuJoCo viewer thread; must not touch env/sim directly.

src/mjlab/viewer/native/viewer.py:450

Function_sensor_key

(s: mujoco.MjsSensor)

src/mjlab/entity/variants.py:619

Method_shaft_mesh

()

src/mjlab/viewer/viser/scene.py:269

Method_sigint_handler

(self, signum, frame)

src/mjlab/viewer/base.py:425

Method_snapped_half

(center: float, pitch: float, gap: float, num: int)

src/mjlab/terrains/primitive_terrains.py:1224

Function_spec_with_diagonal_inertia

()

tests/test_variants.py:454

Function_spec_with_fullinertia

()

tests/test_variants.py:465

Function_spec_with_reserved_mesh_name

()

tests/test_variants.py:475

Function_spec_with_sensor

Sphere with a free joint and a velocity sensor on it.

tests/test_variants.py:644

Function_sphere_with_material_spec

Single-geom sphere whose visual references a named material.

tests/test_variants.py:1039

Function_tendon_key

(t: mujoco.MjsTendon)

src/mjlab/entity/variants.py:623

Function_termination_func

(env)

tests/test_envs_curriculums.py:18

Function_test_custom

(**overrides)

tests/test_terrain_config.py:60

Function_unpack_rgb_kernel

Unpack ABGR uint32 pixels into separate R, G, B uint8 channels.

src/mjlab/sensor/sensor_context.py:20

Method_unwrap

Unwrap TorchArray objects to their underlying tensors.

src/mjlab/sim/sim_data.py:95

Method_update_command

(self)

src/mjlab/tasks/velocity/mdp/velocity_command.py:116

Method_update_command

(self)

src/mjlab/tasks/manipulation/mdp/commands.py:100

Method_update_command

(self)

src/mjlab/tasks/manipulation/mdp/commands.py:222

Method_update_command

(self)

src/mjlab/tasks/tracking/mdp/commands.py:407

Method_update_metrics

(self)

src/mjlab/tasks/velocity/mdp/velocity_command.py:61

Method_update_metrics

(self)

src/mjlab/tasks/manipulation/mdp/commands.py:40

Method_update_metrics

(self)

src/mjlab/tasks/manipulation/mdp/commands.py:173

Method_update_metrics

(self)

src/mjlab/tasks/tracking/mdp/commands.py:214

Method_update_visualization_locked

( self, body_xpos: np.ndarray, body_xmat: np.ndarray, mocap_pos: np.ndarray, mocap_quat: n

src/mjlab/viewer/viser/scene.py:671

Function_variant_spec_fn_unset

Sentinel default for ``VariantEntityCfg.spec_fn``. ``VariantEntityCfg`` builds its spec from ``variants`` via ``build_merged_variant_spec``; the

src/mjlab/entity/variants.py:82

Methodaction

Raw policy output from the current step, before per-term scale/offset. Shape: ``(num_envs, total_action_dim)``.

src/mjlab/managers/action_manager.py:114

Functionaction_acc_l2

Penalize the acceleration of the actions using L2 squared kernel. Operates on raw policy output (before per-term scale/offset).

src/mjlab/envs/mdp/rewards.py:68

Methodaction_dim

(self)

src/mjlab/managers/action_manager.py:54

Methodaction_dim

Dimension of the action space.

src/mjlab/envs/mdp/actions/actions.py:140

Methodaction_dim

(self)

src/mjlab/envs/mdp/actions/differential_ik.py:167

Functionaction_rate_l2

Penalize the rate of change of the actions using L2 squared kernel. Operates on raw policy output (before per-term scale/offset).

src/mjlab/envs/mdp/rewards.py:58

Methodaction_space

(self)

src/mjlab/rl/vecenv_wrapper.py:40

Functionaction_term_cfg

Create a simple action term config.

tests/test_action_manager.py:43

Methodaction_term_dim

(self)

src/mjlab/managers/action_manager.py:110

Methodactive_terms

(self)

src/mjlab/managers/termination_manager.py:71

Methodactive_terms

(self)

src/mjlab/managers/curriculum_manager.py:66

Methodactive_terms

(self)

src/mjlab/managers/manager_base.py:114

Methodactive_terms

List of active term names.

src/mjlab/managers/recorder_manager.py:170

Methodactive_terms

(self)

src/mjlab/managers/event_manager.py:195

Methodactive_terms

(self)

src/mjlab/managers/action_manager.py:132

Methodactive_terms

(self)

src/mjlab/managers/reward_manager.py:95

Methodactive_terms

(self)

src/mjlab/managers/command_manager.py:228

Methodactive_terms

(self)

src/mjlab/managers/metrics_manager.py:102

Methodactive_terms

(self)

src/mjlab/managers/observation_manager.py:214

Methodactual_realtime

(self)

src/mjlab/viewer/base.py:461

Methodactuator_force

Scalar actuator output in actuation space. Shape (num_envs, nu). This is not the same as joint-space generalized force. Use ``qfrc_actuator`` for

src/mjlab/entity/data.py:406

Methodactuator_names

(self)

src/mjlab/entity/entity.py:459

Methodactuators

(self)

src/mjlab/entity/entity.py:413

Methodadd_arrow

Add an arrow from start to end position. Args: start: Start position (3D vector). end: End position (3D vector). color: RGBA co

src/mjlab/viewer/debug_visualizer.py:54

Methodadd_arrow

(self, start, end, color, width=0.015, label=None)

src/mjlab/viewer/debug_visualizer.py:229

Methodadd_box

Add an axis-oriented box visualization. Args: center: Center position (3D vector). size: Half-extents along each local axis (3D vecto

src/mjlab/viewer/debug_visualizer.py:183

Methodadd_box

(self, center, size, mat, color, label=None)

src/mjlab/viewer/debug_visualizer.py:265

Methodadd_box

Add a box visualization using MuJoCo's box geometry.

src/mjlab/viewer/native/visualizer.py:242

Methodadd_box

( self, center: np.ndarray | torch.Tensor, size: np.ndarray | torch.Tensor, mat: np.ndarray |

src/mjlab/viewer/viser/scene.py:967

Functionadd_custom_site

(spec: mujoco.MjSpec)

tests/test_scene.py:387

Methodadd_cylinder

Add a cylinder visualization. Args: start: Bottom center position (3D vector). end: Top center position (3D vector). radius: Cy

src/mjlab/viewer/debug_visualizer.py:143

Methodadd_cylinder

(self, start, end, radius, color, label=None)

src/mjlab/viewer/debug_visualizer.py:259

Methodadd_cylinder

Add a cylinder visualization using MuJoCo's cylinder connector.

src/mjlab/viewer/native/visualizer.py:185

Methodadd_cylinder

( self, start: np.ndarray | torch.Tensor, end: np.ndarray | torch.Tensor, radius: float, c

src/mjlab/viewer/viser/scene.py:931

Methodadd_ellipsoid

Add an ellipsoid visualization. Args: center: Center position (3D vector). size: Semi-axes lengths (3D vector: a, b, c). mat: 3

src/mjlab/viewer/debug_visualizer.py:163

Methodadd_ellipsoid

(self, center, size, mat, color, label=None)

src/mjlab/viewer/debug_visualizer.py:262

Methodadd_ellipsoid

Add an ellipsoid visualization using MuJoCo's ellipsoid geometry.

src/mjlab/viewer/native/visualizer.py:217

Methodadd_ellipsoid

( self, center: np.ndarray | torch.Tensor, size: np.ndarray | torch.Tensor, mat: np.ndarray |

src/mjlab/viewer/viser/scene.py:946

Methodadd_frame

Add a coordinate frame visualization. Args: position: Position of the frame origin (3D vector). rotation_matrix: Rotation matrix (3x3

src/mjlab/viewer/debug_visualizer.py:97

Methodadd_frame

( self, position, rotation_matrix, scale=0.3, label=None, axis_radius=0.01, alpha=

src/mjlab/viewer/debug_visualizer.py:244

Methodadd_frame

Add a coordinate frame visualization with RGB-colored axes.

src/mjlab/viewer/native/visualizer.py:132

Methodadd_ghost_mesh

Add a ghost/transparent rendering of a robot at a target pose. Args: qpos: Joint positions for the ghost pose. model: MuJoCo model wi

src/mjlab/viewer/debug_visualizer.py:74

Methodadd_ghost_mesh

( self, qpos, model, mocap_pos=None, mocap_quat=None, alpha=0.5, label=None, )

src/mjlab/viewer/debug_visualizer.py:232

Methodadd_ghost_mesh

Add a ghost mesh by rendering the robot at a different pose. This creates a semi-transparent copy of the robot geometry at the target pose.

src/mjlab/viewer/native/visualizer.py:84

Methodadd_grid

(self, *_args, **kwargs)

tests/test_variants.py:1309

Methodadd_sphere

Add a sphere visualization. Args: center: Center position (3D vector). radius: Sphere radius. color: RGBA color (values 0-1).

src/mjlab/viewer/debug_visualizer.py:125

Methodadd_sphere

(self, center, radius, color, label=None)

src/mjlab/viewer/debug_visualizer.py:256

Methodadd_sphere

Add a sphere visualization using MuJoCo's sphere geometry.

src/mjlab/viewer/native/visualizer.py:161

Functionadd_tendon_between_entities

(spec: mujoco.MjSpec)

tests/test_scene.py:405

Functionadjust_saturation

Adjust the saturation of an RGB color. Args: rgb: RGB color tuple with values in range [0, 1]. factor: Saturation factor where 0 is graysca

src/mjlab/utils/color.py:208

Methodall_joint_names

(self)

src/mjlab/entity/entity.py:423

Functionall_task_ids

Get all registered task IDs.

tests/test_task_configs.py:11

Methodanchor_ang_vel_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:171

Methodanchor_lin_vel_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:167

Methodanchor_pos_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:156

Methodanchor_quat_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:163

Functionangular_momentum_penalty

Penalize whole-body angular momentum to encourage natural arm swing.

src/mjlab/tasks/velocity/mdp/rewards.py:196

Methodapply

(self, data: torch.Tensor)

src/mjlab/utils/noise/noise_cfg.py:72

Methodapply

(self, data: torch.Tensor)

src/mjlab/utils/noise/noise_cfg.py:99

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:221

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