Load a robot model from the asset zoo.

Load the runner class for a task. If None, the default OnPolicyRunner will be used.

Terminate environments that have NaN/Inf values in their physics state.

Normalizes a given input tensor to unit length. Args: x: Input tensor of shape (N, dims). eps: A small value to avoid division by

Truncate if robot leaves the generated terrain footprint. Returns all-false for non-generator terrains (e.g. plane).

Convert rotations given as angle-axis to quaternions. Args: angle: The angle turned anti-clockwise in radians around the vector's directi

Generate a random RGB color.

Called after a reset completes with fresh observations computed. Fires at the end of ``env.reset()`` (covering all environments on the initial ca

Reset specified environments to initial state. Args: batch_ids: Batch indices to reset, or None to reset all.

Remove buffer textures and their materials from a spec. MuJoCo's ``to_xml()`` cannot serialize textures created from raw pixel data (``texture.da

Position of the target cube per env. Cached per step — updated in _update_metrics which runs before rewards.

Estimate terrain normal from one or more raycast sensors. Gathers hit positions, subsamples to *max_points* per sensor, and fits a plane normal v

Create Unitree G1 flat terrain velocity configuration.

Create Unitree G1 rough terrain velocity configuration.

Create Unitree Go1 flat terrain velocity configuration.

Update scene from batched mjwarp simulation data. Converts warp GPU tensors to numpy arrays and delegates to ``update_from_arrays``.

Return a stable fingerprint for fields baked into Viser mesh handles.

Apply staged updates and return a logging snapshot.

Compute rotation matrix based on ray_alignment setting.

Compute a merged convex hull for a body's mesh geoms. Bypasses ``mjviser.merge_geoms_hull`` (which reads ``mesh_polynum`` and returns ``None`` fo

Create the mujoco_warp RenderContext.

Lazily create a single-term plot inside the scoped folder.

Create a terrain geometry at the specified world position. Args: spec: MuJoCo spec to add geometry to. world_position: World position

Run one obs/policy/step cycle. Returns True on success, False if step failed.

Build a single-geom freejoint variant with an explicit body mass.

Common initialization after warp model is created.

Finish recording and save the video.

Generate 2D fractal Perlin noise.

Gaussian sigmoid tolerance: 1 at x=0, value_at_margin=0.1 at |x|=margin.

Generate random values for the specified axes.

Generate terrain and return stone (cx, cy, half_x, half_y) tuples.

Get indices of specified bodies within the command's body list. Args: command: The motion command. body_names: Names of bodies to find.

Generate info HTML.

Get the world position for a sub-terrain at the given grid indices. This returns the position of the sub-terrain's corner (not center). The e

(w, x, y, z) = (1, 0, 0, 0).

Standard path: build warp model from compiled MjModel.

Linear interpolation between two tensors.

Create a mock environment that produces random RGB frames.

Build a MotionTrackingOnPolicyRunner with all heavy parts mocked out.

Convert single values to lists for uniform processing.

Pretty-print a MuJoCo object type, dropping the ``mjOBJ_`` prefix.

Parse a W&B datetime string (or pass through a datetime object).

Prepend ``entity/`` to a MuJoCo name when an entity scope is set.

Slot geom name in the merged template's namespace after attach.

Quaternion (wxyz) that rotates ``from_vec`` to ``to_vec``.

GPU kernel sequence for sensing (captured in sense_graph).

Track first non-fixed body; fall back to free camera if none exists.

Configure free camera in world frame.

Enable or disable the motion scrubber GUI controls.

Single-body sphere with a hinge child + a position actuator.

Sphere variant with an additional primitive box (visual or collision).

Copy one environment state from batched sim data into a MjData buffer.

Create or remove plots to match current selection.

Sync UI elements to current state after action processing.

Update the HTML status display.

Validate stage ordering, field existence, and param keys.

Clip joint positions and write root + joint state to sim.

Apply noise to the input data.

Applies delta pose transformation on source pose. The first three elements of `delta_pose` are interpreted as cartesian position displacement.

Apply GUI-selected state as an env reset override. Returns True if this term wrote state to sim.

Build sensor instance from this config.

Build entity instance from this config. Override in subclasses to return custom Entity types.

Clamp a value between min and max.

Clear all debug visualizations including handles.

Close the environment and finalize any open videos.

Compute end effector orientation error.

Returns [B, P] bool: True for primaries that landed within the last dt seconds.

Compute root-mean-square joint velocity error. Uses an RMS over joints (rather than a raw L2 norm) so the value is a per-joint quantity, comparab

Create interactive GUI controls for this command term. Override in subclasses to add task-specific controls (e.g., velocity sliders) to the V

Create a <motor> actuator.

Create a scene with a raycast sensor.