Per-variant slot-aligned mesh names with variant prefix. ``None`` at position ``s`` means variant ``v`` does not fill slot ``s``. Derived fro

Get all velocity task IDs.

Per-entity variant assignment for variant scenes. Maps entity name (without trailing slash) to a ``(num_envs,)`` tensor of variant indices. T

Write control inputs to the simulation. Args: ctrl: A tensor of control inputs. ctrl_ids: A tensor of control indices. env_ids:

Set the joint velocities into the simulation. Like `write_joint_state_to_sim()` but only sets joint velocities. Args: velocity: Tensor