Config with a function-based reward.

Get all G1 tracking task IDs.

Get all G1 velocity task IDs.

Generates a random transformation matrix combining rotation and translation. Args: pos_boundary: Range for random translation values.

Generate ray pattern. Args: mj_model: MuJoCo model (required if using from_mujoco_camera). device: Device for tensor operations.

Generate ray pattern. Args: mj_model: MuJoCo model (unused for ring pattern). device: Device for tensor operations. Returns:

Geom angular velocities in world frame. Shape (num_envs, num_geoms, 3).

Randomize geom friction. Default axis is 0 (tangential friction only). Axes 1 (torsional) and 2 (rolling) only affect contacts with ``condim >= 4

Geom linear velocities in world frame. Shape (num_envs, num_geoms, 3).

Randomize geom positions.

Geom positions in world frame. Shape (num_envs, num_geoms, 3).

Geom pose in world frame. Shape (num_envs, num_geoms, 7).

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

Geom quaternions in world frame. Shape (num_envs, num_geoms, 4).

Randomize geom RGBA colors. Only affects rendering when the geom has no material assigned. If a material is assigned, its color (or texture) take

Randomize geom size and recompute broadphase bounds. After writing new values to ``geom_size``, this function automatically recomputes ``geom_rbo

Geom velocity in world frame. Shape (num_envs, num_geoms, 6).

Get the environment indices to visualize.

Returns all joints except the free joint.

Global indices of control inputs in the MuJoCo model.

Get all Go1 velocity task IDs.

Whether the environment has any camera sensors.

Whether this actuator has delay configured.

Entity has actuators using site transmission.

Entity has actuators using tendon transmission.

Heading angle in world frame. Shape (num_envs,).

Create a simple identity network: output = sum of all inputs.

Initialize the actuator after model compilation. This is called after the MjSpec is compiled into an MjModel. Args: mj_model: The comp

Create fused delay buffers for delayed builtin groups.

Initialize the sensor after model compilation. This is called after the MjSpec is compiled into an MjModel and the simulation is ready to run

Map sensors to sensordata buffer and allocate air time state.

Create an initialized scene with simulation.

Performs linear interpolation between two poses. Args: pose_1: 4x4 start pose. pose_2: 4x4 end pose. num_steps: If provid

Entity has actuated joints.

Reward for being alive.

Entity is articulated (has fixed or actuated joints).

Entity is welded to the world.

Checks if input poses are identity transforms. The function checks if the input position and orientation are close to zero and identity respe

Check if buffer has been initialized with at least one append.

Check if the buffer has been initialized with at least one append.

Returns True if a joint is limited.

Entity root body is a mocap body (only for fixed-base entities).

Check if an actuator is a motor actuator. Matches actuators created by ``MjsActuator.set_to_motor()`` or ``create_motor_actuator()``.

Check if an actuator is a muscle actuator.

Check if an actuator is a position actuator. Matches actuators created by ``MjsActuator.set_to_position()`` or ``create_position_actuator()``.

Check if viewer is running.

Penalize terminated episodes that don't correspond to episodic timeouts.

Check if an actuator is a velocity actuator. Matches actuators created by ``MjsActuator.set_to_velocity()`` or ``create_velocity_actuator()``.

Joint accelerations. Shape (num_envs, nv).

Penalize joint accelerations on the articulation using L2 squared kernel.

Randomize joint armature. Triggers ``set_const_0``.