Derive a geom's slot role from its contact bits. Visual: ``contype == 0`` and ``conaffinity == 0``. Collision: anything else. Shared by validatio

Compare a flat spec-level collection (actuators, sensors, ...). Length must match; per-element ``key_fn(item)`` tuples must match. Per-collection

Create a mock env for apply_body_impulse tests.

Core implementation for quaternion randomization via RPY composition. Composes a sampled RPY perturbation with the default quaternion to produce

Free-floating box with an IMU site and the framezaxis up-vector sensor.

Camera feeds update continuously while running and on-demand while paused.

Apply joint- or tendon-level overrides. ``None`` preserves the XML value. SITE transmission is a no-op (sites have no armature / frictionloss / dam

Attach metadata to an ONNX model file. Args: onnx_path: Path to the ONNX model file. metadata: Dictionary of metadata key-value pairs to at

Clear all overlay histories.

Compute Mean Per-Keybody Position Error (MPKPE). MPKPE measures the average Euclidean distance between the reference and actual key body position

Creates a <position> actuator. An important note about this actuator is that we set `ctrllimited` to False. This is because we want to allow the

Add standard GUI controls plus debug visualization section.

Creates a <velocity> actuator. Control inputs are not clamped so that velocity commands work for any joint, including continuous joints that have

Force MuJoCo's host model down the full local-to-global transform path. mujoco_warp does not implement MuJoCo's *_sameframe shortcuts: its kinema

Fix known issues in MjSpec.to_xml() output. 1. Remove empty ``<default/>`` and ``<default class="..."/>`` tags. 2. Collapse duplicate nested defa

Get base metadata common to all RL policy exports. Args: env: The RL environment. run_path: W&B run path or other identifier. Returns:

Get checkpoint path from wandb, downloading if needed. Returns: Tuple of (checkpoint_path, was_cached)

Height scan from a raycast sensor. Returns the height of the sensor frame above each hit point. Supports multi-frame sensors: each ray uses its o

Load RL configuration for a task. Returns a deep copy to prevent mutation of the registered config.

Clear histories when active environment changes.

Projected gravity from a ``framezaxis`` up-vector sensor. The sensor is expected to output the world Z-axis expressed in the sensor's frame (e.g.

Forward to each term's :meth:`RecorderTerm.record_pre_reset`.

Compute reflected inertia of a two-stage planetary gearbox.

Re-render, keeping needs_update set when debug viz is active.

Render the environment.

Zero out values and counters for specified batch rows. Args: batch_ids: Batch indices to reset, or None to reset all.

Resolve a string or Operation instance to an Operation. Raises: ValueError: If the string does not match a built-in operation name.

Wire a SensorContext for camera/raycast sensing. Automatically re-captures CUDA graphs so the sense_graph includes the new sensor kernels.

r"""Subtract transformations between two reference frames into a stationary frame. It performs the following transformation operation: :math:`T_{

Terminate when robot displacement from spawn exceeds sub-terrain size. Intended as ``time_out=True`` (successful traversal, not penalized). Skips t

Set the pose of a mocap body into the simulation. Args: mocap_pose: Tensor of shape (N, 7) where N is the number of environments. F

Check for NaN/Inf and handle according to policy. Args: tensor: Observation tensor to check. context: Context string for error/warnin

Clear histories and reset figures.

Compute the frame Jacobian.

Invalidate the cached data, forcing recomputation on next access.

Build the env stub, typed as the real env for the functions under test.

Create a model with both textured and color-only geoms on the same body.

Convert wxyz quaternion(s) to 3x3 rotation matrix. Shape: (..., 4) → (..., 3, 3).

Reconstruct pseudo-inertia matrix from MuJoCo fields (test helper). Correctly accounts for body_iquat (the principal-frame rotation) and the para

Sync visually relevant per-world model fields into the host MjModel.

Sync visually-relevant DR'd model fields from GPU to MjModel.

Update the visualization to show the current state.

Cleanup plotter resources.

Deprecated. Use ``reset`` instead.

Compute end effector position error.

Compute Root-relative Mean Per-Keybody Position Error (R-MPKPE). R-MPKPE measures intrinsic pose error independent of global drift. It uses ``bod

Create a scene with a contact sensor.

Create a floating-base articulated entity.

Create a floating-base entity.

Capture CUDA graphs for step, forward, and reset operations. This method must be called whenever GPU arrays in the model or data are replaced

Saves data to a YAML file. Args: filename: The path to the YAML file. data: The data to save. Must be a dictionary. sort_keys: Wh

Create config that references a MuJoCo camera. Camera parameters (resolution, FOV) are resolved at runtime from the model. Args: camer

Get a fresh G1 robot configuration instance. Returns a new EntityCfg instance each time to avoid mutation issues when the config is shared across

Whether any contact visualization is currently enabled.