Randomize joint damping (dof_damping).

Randomize default joint positions (qpos0). Triggers ``set_const_0``.

Randomize joint friction loss (dof_frictionloss).

Randomize joint limits (jnt_range).

Joint positions. Shape (num_envs, num_joints).

Joint positions with encoder bias applied. Shape (num_envs, num_joints).

Penalize joint positions if they cross the soft limits.

Randomize joint stiffness (jnt_stiffness).

Joint torques. Shape (num_envs, nv).

Joint velocities. Shape (num_envs, nv).

Penalize joint velocities on the articulation using L2 squared kernel.

Quadratic hinge penalty on joint velocities exceeding a symmetric limit. Penalizes only the amount by which |v| exceeds max_vel. Returns a negative

Randomize light direction vectors.

Randomize light positions.

Lighten an RGBA color by interpolating towards white. Args: rgba: RGBA color tuple with values in range [0, 1]. factor: Lightening factor i

List all registered environments. Args: keyword: Optional filter to only show environments containing this keyword.

Replay motion from CSV file and output to npz file. Args: input_file: Path to the input CSV file. output_name: Path to the output npz file.

Generate benchmark report by evaluating nightly runs. Args: run_paths: Specific run paths to evaluate (entity/project/run_id). entity: Wand

Randomize material emission. MuJoCo Warp's RGB renderer adds ``mat_emission * base_color`` per shaded pixel, so higher values make the material a

Randomize material RGBA color. In MuJoCo, a material's RGBA plays two roles depending on whether a texture is assigned: - **With texture**: ``

Randomize material shininess. MuJoCo stores shininess in ``[0, 1]``. MuJoCo Warp maps it to a Phong exponent in ``[0, 128]`` during RGB rendering

Randomize material specular reflection strength. MuJoCo stores specular in ``[0, 1]``. MuJoCo Warp uses it to scale the specular component of RGB

Randomize material texture repeat in the S/T directions. Only affects textured materials. Values should remain positive; zero or negative texture

Maximum episode length in steps.

Maximum episode length in seconds.

Mean absolute action acceleration. Lower values indicate smoother actions. Returns: Per-environment scalar. Shape: ``(B,)``.

Mean size of the model, used for scaling visualization elements.

Minimal scene configuration.

Create a model with a mocap body and a freejoint body.

Create a mock MotionCommand for testing.

Create mock entities for testing.

Create a mock environment for testing.

Create a mock environment for testing.

Create a mock environment.

Create a mock environment.

Create a mock environment.

Create a mock environment.

Minimal mock environment for shape validation tests.

Gaussian reward for bringing the selected target cube to goal.

Staged reward for the target cube selected by MultiCubeLiftingCommand.

Spec with multiple geoms for collision testing.

Reward function that returns NaN for some environments.

Number of parallel environments.

Number of attachment frames.

Max number of filled mesh slots across variants (i.e. the longest variant's source mesh count). Derived from ``variant_slot_specs``.