Total number of rays (num_frames * num_rays_per_frame).

Number of rays per attachment frame.

Number of targets. ``ctrl_ids`` is laid out as ``[pos..., vel...]``, each block of length ``num_targets``.

Distance vector from object to goal in base frame.

Action offset.

Notify all command terms of viewer pause state change.

Always ``None`` (output is flattened keypoints).

Total flattened output dimension (C * 2).

Randomize geom-pair friction overrides. Pair friction has 5 components: ``[tangent1, tangent2, spin, roll1, roll2]``. Default axis is 0 (tangent1

Randomize PD stiffness and damping gains. Args: env: The environment. env_ids: Environment IDs to randomize. If None, randomizes all. k

Fields with per-world defaults from mesh variant compilation.

Physics simulation step size.

Cosine and sine of the pole hinge angle. Shape: [num_envs, 2].

The sensor name with entity prefix if applicable.

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

Raw policy output from two steps ago, before per-term scale/offset. Shape: ``(num_envs, total_action_dim)``.

Primary names in the order they appear along the per-contact dim. Per-contact fields ([B, N, ...]) are laid out primary-major, so primary `pr

Process raw actions by applying scale, offset, and optional clip.

Strip auto-generated dataclass docstrings (e.g. 'ClassName(*, ...)').

Suppress the ugly __init__ signature for dataclass Cfg classes.

r"""Projects 3D points into 2D image plane. This project 3D points into a 2D image plane. The transformation is defined by the intrinsic matr

Gravity vector projected into body frame. Shape (num_envs, 3).

r"""Physics-consistent inertial randomization via the pseudo-inertia matrix. Jointly randomizes ``body_mass``, ``body_ipos``, ``body_inertia``, and

Push an entity by overwriting its root velocity with a sampled offset. This is an *instantaneous, mass-independent* kick: it adds a uniformly sampl

Forces produced by all actuators, mapped into joint space. For motors this is the commanded torque times the gear ratio. For position and vel

Forces on joints due to Cartesian wrenches applied to bodies. When a force or torque is applied to a body via ``xfrc_applied``, this property

Rotate a vector only around the yaw-direction. Args: quat: The orientation in (w, x, y, z). Shape is (N, 4). vec: The vector in (

The box-plus operator (quaternion update) to apply an increment to a quaternion. Args: q: The initial quaternion in (w, x, y, z). Shape i

Generate a random RGBA color with specified alpha.

Returns sampled rotation in 3D as quaternion. Args: num: The number of rotations to sample. device: Device to create tensor on.

Returns sampled rotation around z-axis. Args: num: The number of rotations to sample. device: Device to create tensor on. Re

Randomize the sub-terrain for each environment on reset. This picks a random terrain type (column) and difficulty level (row) for each environmen

Raw actions (before scale/offset).

Mark an event function as requiring specific model fields expanded per-world. Fields listed here are registered in ``EventManager.domain_randomizat

Reset the environment.

Reset noise model state. Override in subclasses if needed.

Resets the manager term.

Resets the manager and returns logging info for the current step.

Reset history buffers for specified environments. Args: env_ids: Environment indices to reset. If None, reset all environments.

Reset actuator state for specified environments. Resets delay buffers if present. Subclasses that override this should call ``super().reset(e

Reset raw actions to zero for specified environments.

Reset sensor state for specified environments. Invalidates the data cache. Override in subclasses that maintain internal state, but call `sup

Extend BaseViewer.reset_environment to clear reward histories.