Functions — github.com/mujocolab/mjlab

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Functions2,812 in github.com/mujocolab/mjlab

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

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:254

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:269

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:281

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:331

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:343

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:355

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/actions.py:383

Methodapply_actions

(self)

src/mjlab/envs/mdp/actions/differential_ik.py:251

Functionapply_external_force_torque

Apply a single *constant* external wrench to bodies. Samples a force and torque once and writes them to ``xfrc_applied``. The wrench is **statele

src/mjlab/envs/mdp/events.py:340

Methodapply_gui_reset

Apply GUI-selected state from all terms. Returns True if any applied.

src/mjlab/managers/command_manager.py:196

Methodapply_gui_reset

(self, env_ids: torch.Tensor)

src/mjlab/managers/command_manager.py:305

Methodapply_gui_reset

(self, env_ids: torch.Tensor)

src/mjlab/tasks/tracking/mdp/commands.py:559

Functionarticulated_robot_xml

XML for a simple articulated robot with joints.

tests/test_builtin_sensor.py:25

Methodavailable_modes

(self)

src/mjlab/managers/event_manager.py:199

Functionbad_anchor_ori

( env: ManagerBasedRlEnv, asset_cfg: SceneEntityCfg, command_name: str, threshold: float )

src/mjlab/tasks/tracking/mdp/terminations.py:37

Functionbad_anchor_pos

( env: ManagerBasedRlEnv, command_name: str, threshold: float )

src/mjlab/tasks/tracking/mdp/terminations.py:18

Functionbad_anchor_pos_z_only

( env: ManagerBasedRlEnv, command_name: str, threshold: float )

src/mjlab/tasks/tracking/mdp/terminations.py:27

Functionbad_motion_body_pos

( env: ManagerBasedRlEnv, command_name: str, threshold: float, body_names: tuple[str, ...] | None = No

src/mjlab/tasks/tracking/mdp/terminations.py:56

Functionbad_motion_body_pos_z_only

( env: ManagerBasedRlEnv, command_name: str, threshold: float, body_names: tuple[str, ...] | None = No

src/mjlab/tasks/tracking/mdp/terminations.py:73

Functionbad_orientation

Terminate when the asset's orientation exceeds the limit angle.

src/mjlab/envs/mdp/terminations.py:24

Functionbase_ang_vel

( env: ManagerBasedRlEnv, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG )

src/mjlab/envs/mdp/observations.py:31

Functionbase_lin_vel

( env: ManagerBasedRlEnv, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG )

src/mjlab/envs/mdp/observations.py:24

Methodbatch_size

(self)

src/mjlab/utils/buffers/circular_buffer.py:140

Functionbiped_xml

Load biped robot XML fixture with ground plane.

tests/conftest.py:171

Methodbody_ang_vel_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:152

Functionbody_angular_velocity_penalty

Penalize excessive body angular velocities.

src/mjlab/tasks/velocity/mdp/rewards.py:184

Methodbody_com_ang_vel_w

Body COM angular velocities in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:524

Methodbody_com_lin_vel_w

Body COM linear velocities in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:519

Functionbody_com_offset

Randomize body COM offset (body_ipos). Triggers ``set_const``.

src/mjlab/envs/mdp/dr/body.py:330

Methodbody_com_pos_w

Body COM positions in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:509

Methodbody_com_pose_w

Body center-of-mass pose in world frame. Shape (num_envs, num_bodies, 7).

src/mjlab/entity/data.py:301

Methodbody_com_quat_w

Body COM quaternions in world frame. Shape (num_envs, num_bodies, 4).

src/mjlab/entity/data.py:514

Methodbody_com_vel_w

Body center-of-mass velocity in world frame. Shape (num_envs, num_bodies, 6).

src/mjlab/entity/data.py:310

Methodbody_external_force

Body external forces in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:530

Methodbody_external_torque

Body external torques in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:535

Methodbody_external_wrench

Body external wrench in world frame. Shape (num_envs, num_bodies, 6).

src/mjlab/entity/data.py:319

Methodbody_lin_vel_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:148

Methodbody_link_ang_vel_w

Body link angular velocities in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:504

Methodbody_link_lin_vel_w

Body link linear velocities in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:499

Methodbody_link_pos_w

Body link positions in world frame. Shape (num_envs, num_bodies, 3).

src/mjlab/entity/data.py:489

Methodbody_link_pose_w

Body link pose in world frame. Shape (num_envs, num_bodies, 7).

src/mjlab/entity/data.py:285

Methodbody_link_quat_w

Body link quaternions in world frame. Shape (num_envs, num_bodies, 4).

src/mjlab/entity/data.py:494

Methodbody_link_vel_w

Body link velocity in world frame. Shape (num_envs, num_bodies, 6).

src/mjlab/entity/data.py:292

Functionbody_mass

Randomize body mass. Triggers ``set_const`` recomputation. .. warning:: This function only changes ``body_mass`` and leaves ``body_inertia``

src/mjlab/envs/mdp/dr/body.py:285

Methodbody_names

(self)

src/mjlab/entity/entity.py:419

Functionbody_pos

Randomize body position. Triggers ``set_const_0``.

src/mjlab/envs/mdp/dr/body.py:361

Methodbody_pos_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:138

Functionbody_quat

Randomize body orientation by composing an RPY perturbation. Ranges are in radians. The sampled perturbation is composed with the default quatern

src/mjlab/envs/mdp/dr/body.py:388

Methodbody_quat_w

(self)

src/mjlab/tasks/tracking/mdp/commands.py:144

Functionbox_random_grid

( **overrides: Any, )

src/mjlab/terrains/config.py:154

Functionbring_object_reward

( env: ManagerBasedRlEnv, command_name: str, object_name: str, std: float, )

src/mjlab/tasks/manipulation/mdp/rewards.py:45

Methodbuffer

History in chronological order (oldest to newest). Returns: Tensor of shape (batch_size, max_len, ...) where index 0 is oldest and in

src/mjlab/utils/buffers/circular_buffer.py:162

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/learned_actuator.py:64

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/xml_actuator.py:40

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/builtin_actuator.py:59

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/builtin_actuator.py:129

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/builtin_actuator.py:207

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/builtin_actuator.py:419

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/builtin_actuator.py:508

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/builtin_actuator.py:582

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/dc_actuator.py:71

Methodbuild

Build actuator instance. Args: entity: Entity this actuator belongs to. target_ids: Local target indices (for indexing entity arrays)

src/mjlab/actuator/actuator.py:115

Methodbuild

( self, entity: Entity, target_ids: list[int], target_names: list[str] )

src/mjlab/actuator/pd_actuator.py:32

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/envs/mdp/actions/actions.py:197

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/envs/mdp/actions/actions.py:208

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/envs/mdp/actions/actions.py:310

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/envs/mdp/actions/actions.py:321

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/envs/mdp/actions/actions.py:373

Methodbuild

(self)

src/mjlab/sensor/contact_sensor.py:160

Methodbuild

(self)

src/mjlab/sensor/camera_sensor.py:104

Methodbuild

(self)

src/mjlab/sensor/terrain_height_sensor.py:39

Methodbuild

(self)

src/mjlab/sensor/builtin_sensor.py:264

Methodbuild

(self)

src/mjlab/sensor/raycast_sensor.py:422

Methodbuild

(self)

src/mjlab/terrains/terrain_entity.py:102

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/tasks/velocity/mdp/velocity_command.py:313

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/tasks/manipulation/mdp/commands.py:273

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/tasks/manipulation/mdp/commands.py:315

Methodbuild

(self, env: ManagerBasedRlEnv)

src/mjlab/tasks/tracking/mdp/commands.py:607

Functionbuiltin_sensor

Get observation from a built-in sensor by name.

src/mjlab/envs/mdp/observations.py:102

Functioncallable_to_string

Converts a callable object to a string. Args: value: A callable object. Raises: ValueError: When the input argument is not a

src/mjlab/utils/lab_api/string.py:108

Functioncam_fovy

Randomize camera field-of-view (vertical, degrees).

src/mjlab/envs/mdp/dr/camera.py:25

Functioncam_intrinsic

Randomize camera intrinsic parameters.

src/mjlab/envs/mdp/dr/camera.py:107

Functioncam_light_env

(device)

tests/test_domain_randomization.py:980

Functioncam_pos

Randomize camera positions.

src/mjlab/envs/mdp/dr/camera.py:51

Functioncam_quat

Randomize camera orientation by composing an RPY perturbation. Ranges are in radians. The sampled perturbation is composed with the default quate

src/mjlab/envs/mdp/dr/camera.py:78

Functioncamera_depth

Depth observation in CNN-compatible format (B, 1, H, W).

src/mjlab/tasks/manipulation/mdp/observations.py:104

Methodcamera_idx

(self)

src/mjlab/sensor/camera_sensor.py:152

Methodcamera_name

(self)

src/mjlab/sensor/camera_sensor.py:148

Methodcamera_names

(self)

src/mjlab/entity/entity.py:443

Functioncamera_rgb

RGB observation in CNN-compatible format (B, C, H, W).

src/mjlab/tasks/manipulation/mdp/observations.py:95

Functioncartpole_smooth_reward

dm_control smooth cartpole reward: upright * centered * small_control * small_vel. Args: env: The environment. cart_cfg: Entity config sele

src/mjlab/tasks/cartpole/cartpole_env_cfg.py:116

Methodcfg

(self)

src/mjlab/viewer/base.py:104

Methodcfg

(self)

src/mjlab/rl/vecenv_wrapper.py:28

Methodclass_name

(cls)

src/mjlab/rl/vecenv_wrapper.py:44

Functionclass_reward_config

Config with a class-based reward.

tests/test_rewards.py:90

Functionclean_cuda_env

Clean CUDA_VISIBLE_DEVICES before each test.

tests/test_gpu_selection.py:11

Functionclean_obs

(env)

tests/test_observation_nan_handling.py:143

Methodcleanup

(self)

src/mjlab/viewer/viser/camera_viewer.py:181

Methodcleanup

Clean up resources.

src/mjlab/viewer/viser/term_plotter.py:227

Methodcleanup

Cleanup all camera feed widgets.

src/mjlab/viewer/viser/overlays.py:169

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