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Functions2,812 in github.com/mujocolab/mjlab

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

Test device fixture.

tests/test_sensor_caching.py:18

Test device fixture.

tests/test_observation_history.py:17

tests/test_builtin_group.py:19

Test device fixture.

tests/test_delay_buffer.py:11

Test device fixture.

tests/test_observation_delay.py:17

tests/test_xml_actuator.py:40

tests/test_actuator_builtin_group.py:43

Test device fixture.

tests/test_entity.py:111

Test device fixture.

tests/test_contact_sensor.py:72

tests/test_actions.py:27

tests/test_pd_actuator.py:16

tests/test_delayed_actuator.py:19

tests/test_raycast_sensor.py:24

tests/test_lab_api_math.py:11

tests/test_manager_config_immutability.py:27

Test device fixture.

tests/test_observation_nan_handling.py:17

tests/test_runner.py:33

src/mjlab/utils/buffers/circular_buffer.py:144

src/mjlab/viewer/base.py:101

src/mjlab/managers/manager_base.py:75

src/mjlab/managers/manager_base.py:109

Device for computation.

src/mjlab/envs/manager_based_rl_env.py:271

Functiondict_state_func

tests/test_curriculum_manager.py:26

Functiondiscrete_obstacles

( **overrides: Any, )

src/mjlab/terrains/config.py:123

Methoddomain_randomization_fields

src/mjlab/managers/event_manager.py:203

src/mjlab/managers/termination_manager.py:75

Methodedit_spec

(self, spec: mujoco.MjSpec)

src/mjlab/utils/spec_config.py:57

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/xml_actuator.py:69

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/builtin_actuator.py:77

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/builtin_actuator.py:153

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/builtin_actuator.py:225

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/builtin_actuator.py:428

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/builtin_actuator.py:526

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/builtin_actuator.py:600

Methodedit_spec

Edit the MjSpec to add actuators. This is called during entity construction, before the model is compiled. Args: spec: The entity's Mj

src/mjlab/actuator/actuator.py:206

Methodedit_spec

(self, spec: mujoco.MjSpec, target_names: list[str])

src/mjlab/actuator/pd_actuator.py:56

Methodedit_spec

Expand patterns and add MuJoCo sensors (one per primary x field pair).

src/mjlab/sensor/contact_sensor.py:256

Methodedit_spec

( self, scene_spec: mujoco.MjSpec, entities: dict[str, Entity], )

src/mjlab/sensor/camera_sensor.py:155

Methodedit_spec

(self, scene_spec: mujoco.MjSpec, entities: dict[str, Entity])

src/mjlab/sensor/builtin_sensor.py:298

Methodedit_spec

( self, scene_spec: mujoco.MjSpec, entities: dict[str, Entity], )

src/mjlab/sensor/raycast_sensor.py:473

Functionee_to_object_distance

Distance vector from end effector to object in base frame.

src/mjlab/tasks/manipulation/mdp/observations.py:23

Functionee_velocity

EE linear velocity in EE frame.

src/mjlab/tasks/manipulation/mdp/observations.py:61

Functioneffort_limits

Randomize actuator effort limits. Args: env: The environment. env_ids: Environment IDs to randomize. If None, randomizes all. effort_li

src/mjlab/envs/mdp/dr/actuator.py:192

Functionencoder_bias

Randomize encoder bias to simulate joint encoder calibration errors.

src/mjlab/envs/mdp/dr/joint.py:209

src/mjlab/scene/scene.py:116

Functionentity_with_site_xml

Entity XML with a site for tendon attachment.

tests/test_scene.py:88

tests/test_domain_randomization.py:88

tests/test_runner.py:38

Methodenv_origins

src/mjlab/scene/scene.py:104

Methodenv_spacing

src/mjlab/scene/scene.py:112

Methodepisode_length_buf

src/mjlab/rl/vecenv_wrapper.py:54

Functioneuler_xyz_from_quat

Convert rotations given as quaternions to Euler angles in radians. Note: The euler angles are assumed in XYZ extrinsic convention. A

src/mjlab/utils/lab_api/math.py:437

Methodexpanded_fields

Names of model fields that have been expanded for per-env DR.

src/mjlab/sim/sim.py:386

Functionfake_entity

tests/test_scene_entity_config.py:63

Functionfake_scene

(fake_entity: _FakeEntity)

tests/test_scene_entity_config.py:75

Functionfalling_box_xml

XML for a box that can fall onto a ground plane.

tests/conftest.py:194

Functionfeet_air_time

Reward feet air time.

src/mjlab/tasks/velocity/mdp/rewards.py:209

Functionfeet_clearance

Penalize deviation from target clearance height, weighted by foot velocity.

src/mjlab/tasks/velocity/mdp/rewards.py:241

Functionfeet_slip

Penalize foot sliding (xy velocity while in contact).

src/mjlab/tasks/velocity/mdp/rewards.py:326

Functionfetch_available_local

src/mjlab/scripts/play.py:227

Functionfetch_available_wandb

src/mjlab/scripts/play.py:253

Methodfind_actuators

( self, name_keys: str | Sequence[str], actuator_subset: Sequence[str] | None = None, preserve

src/mjlab/entity/entity.py:619

Methodfind_cameras

( self, name_keys: str | Sequence[str], camera_subset: Sequence[str] | None = None, preserve_o

src/mjlab/entity/entity.py:579

Methodfind_lights

( self, name_keys: str | Sequence[str], light_subset: Sequence[str] | None = None, preserve_or

src/mjlab/entity/entity.py:589

Methodfind_materials

( self, name_keys: str | Sequence[str], material_subset: Sequence[str] | None = None, preserve

src/mjlab/entity/entity.py:599

Methodfind_pairs

( self, name_keys: str | Sequence[str], pair_subset: Sequence[str] | None = None, preserve_ord

src/mjlab/entity/entity.py:609

Functionfixed_base_articulated_xml

Load fixed base articulated robot XML fixture.

tests/conftest.py:159

Functionfixed_base_box_xml

Load fixed base box XML fixture.

tests/conftest.py:147

Functionfixed_base_entity

(fixtures_dir, device)

tests/test_actions.py:48

Functionfixtures_dir

Path to test fixtures directory.

tests/conftest.py:34

Functionfixtures_dir

tests/test_actions.py:32

Functionflat_orientation_l2

Penalize non-flat base orientation.

src/mjlab/envs/mdp/rewards.py:153

Methodflat_patch_radii

src/mjlab/terrains/terrain_entity.py:179

Methodflat_patches

src/mjlab/terrains/terrain_entity.py:175

Functionflat_velocity_task_ids

Get all flat terrain velocity task IDs.

tests/test_velocity_task.py:36

Functionfloating_base_articulated_xml

Load floating base articulated robot XML fixture.

tests/conftest.py:165

Functionfloating_base_box_xml

Load floating base box XML fixture.

tests/conftest.py:153

Functionfloating_base_entity

tests/test_actions.py:59

Functionfloating_box_cfg

Entity config for a floating box with initial position.

tests/test_scene.py:438

Functionfloating_sphere_cfg

Entity config for a floating sphere with initial position.

tests/test_scene.py:457

Functionfoot_air_time

(env: ManagerBasedRlEnv, sensor_name: str)

src/mjlab/tasks/velocity/mdp/observations.py:27

Functionfoot_contact

(env: ManagerBasedRlEnv, sensor_name: str)

src/mjlab/tasks/velocity/mdp/observations.py:35

Functionfoot_contact_forces

(env: ManagerBasedRlEnv, sensor_name: str)

src/mjlab/tasks/velocity/mdp/observations.py:42

Compute spatial soft-argmax. Args: x: Feature maps of shape ``(B, C, H, W)``. Returns: Keypoint coordinates of shape ``(B, C

src/mjlab/rl/spatial_softmax.py:42

(self, x: torch.Tensor)

src/mjlab/rl/spatial_softmax.py:114

tests/test_learned_actuator.py:73

tests/test_learned_actuator.py:93

Create RGBA from RGB with specified alpha.

src/mjlab/utils/color.py:34

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/heightfield_terrains.py:233

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/heightfield_terrains.py:410

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/heightfield_terrains.py:567

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/heightfield_terrains.py:714

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:42

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:70

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:247

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:443

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:736

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:845

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:1018

( self, difficulty: float, spec: mujoco.MjSpec, rng: np.random.Generator )

src/mjlab/terrains/primitive_terrains.py:1180

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