Reset root state by placing the asset on a randomly chosen flat patch. Selects a random flat patch from the terrain for each environment and positi

Reset all entities in the scene to their default states. For floating-base entities: Resets root state (position, orientation, velocities). For f

r"""Transform the linear and angular velocity of a rigid body between reference frames. Given the twist of 0 relative to frame 0, this function c

Entity config for a robot.

Robot entity XML for testing.

XML for a floating body above a ground plane.

XML for robot with sensors already defined in the XML.

Simple robot with geoms and joints.

Root COM angular velocity in body frame. Shape (num_envs, 3).

Root COM angular velocity in world frame. Shape (num_envs, 3).

Root COM linear velocity in body frame. Shape (num_envs, 3).

Root COM linear velocity in world frame. Shape (num_envs, 3).

Root COM position in world frame. Shape (num_envs, 3).

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

Root COM quaternion in world frame. Shape (num_envs, 4).

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

Terminate when the asset's root height is below the minimum height.

Root link angular velocity in body frame. Shape (num_envs, 3).

Root link angular velocity in world frame. Shape (num_envs, 3).

Root link linear velocity in body frame. Shape (num_envs, 3).

Root link linear velocity in world frame. Shape (num_envs, 3).

Root link position in world frame. Shape (num_envs, 3).

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

Root link quaternion in world frame. Shape (num_envs, 4).

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

Get all rough terrain velocity task IDs.

Convert revolutions per minute to radians per second.

View NaN dump states in Viser. Args: dump_path: Path to nan_dump_TIMESTAMP.npz file.

Sample 3D points uniformly on a cylinder's surface. The cylinder is centered at the origin and aligned with the z-axis. The height of the cylinde

Randomly samples tensor from a triangular distribution. Args: lower: The lower range of the sampled tensor. upper: The upper rang

Clamps a given input tensor to (lower, upper). It uses pytorch broadcasting functionality to deal with batched input. Args: x: Input

Action scale.

Normalizes a given input tensor to a range of [-1, 1]. .. note:: It uses pytorch broadcasting functionality to deal with batched input.

Scene configuration with multiple entities.

Seed all random number generators for reproducibility. Note: MuJoCo Warp is not fully deterministic yet. See: https://github.com/google-deepmind/

Penalize self-collisions. When the sensor provides force history (from ``history_length > 0``), counts substeps where any contact force exceeds *

Penalize self-collisions. When the sensor provides force history (from ``history_length > 0``), counts substeps where any contact force exceeds *

Shared sensing resources, or None if no cameras/raycasts.

Wire this sensor to a SensorContext for BVH-accelerated raycasting.

Set lag values for specified environments. Args: lags: Lag values to set. Shape: (num_batch_ids,) or scalar. batch_ids: Batch indices

Setup MuJoCo viewer resources.

Setup the viewer resources.

Entity config for a simple box.

Simple entity XML for testing.

Create a simple MuJoCo model for testing.

Create a simple observation function that returns a counter.

Create a simple observation function that returns a counter.

Minimal robot XML for testing.

Site angular velocities in world frame. Shape (num_envs, num_sites, 3).

Site linear velocities in world frame. Shape (num_envs, num_sites, 3).

Randomize site positions.

Site positions in world frame. Shape (num_envs, num_sites, 3).

Site pose in world frame. Shape (num_envs, num_sites, 7).

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

Site quaternions in world frame. Shape (num_envs, num_sites, 4).

Site velocity in world frame. Shape (num_envs, num_sites, 6).

Computes the skew-symmetric matrix of a vector. Args: vec: The input vector. Shape is (3,) or (N, 3). Returns: The skew-symm

Penalize high impact forces at landing to encourage soft footfalls.

Create a spec with a continuous (unlimited) hinge joint.

Create a spec with a limited joint for testing.