Append a new point to the ring buffer.

Return the rotation matrices for one of the rotations about an axis of which Euler angles describe, for each value of the angle given. Args:

Build default root state tensor, uniform across all worlds.

Build the upper-triangular perturbation matrix U from 10 parameters. .. code-block:: U = e^alpha * [[e^d1, s12, s13, t1],

Build flat checkboxes with a filter input for term selection.

Generate a single terrain patch and return a merged trimesh (or raise).

Central finite-difference rotation Jacobian via axis-angle.

Central finite-difference position Jacobian.

Analytical Cholesky for batched 4x4 SPD matrices. Avoids ``torch.linalg.cholesky`` (and the cuSOLVER library it loads), which allocates several G

Collapse duplicate nested defaults with the same class name. MjSpec.to_xml() emits ``<default class="X"><default class="X">...`` after ``attach(p

Return (imports, written_modules) where imports is a list of (cell_index, module, name) tuples for every ``from mjlab... import`` in the notebook,

Return the set of mjlab modules the notebook creates via %%writefile.

Map typed segmentation pairs to distinct RGB colors.

Compare geoms within a matching body across two variants. Mesh geoms may differ in count per ``(body, role)``; they form padded slots and are not

Compute and return the sensor data. Subclasses must implement this method to compute the sensor's data. This is called by the `data` property

Computes the frame blend for the motion.

Compute a stable extent for offscreen rendering. MuJoCo scales z-near/z-far and shadow clip with ``model.stat.extent``. In large scenes this

Compute slot list and per-variant slot specs. Walks each variant's body tree, buckets mesh geoms by ``(body_path, role)``, and assigns ordinals d

Computes the velocities of the motion.

Cone: 1 visual + 4 collision geoms (more than sphere).

Configure PyTorch CUDA and cuDNN backends for PyTorch 2.9+.

Point mediapy at the bundled imageio-ffmpeg binary.

Configure PyTorch CUDA and cuDNN backends for PyTorch <2.9.

Configure Warp globally for mjlab.

Check if an object or its attributes contain any Warp arrays.

Original approach with individual boxes.

Create merged boxes for similar heights to reduce geom count.

Add per-reward debug visualization checkboxes.

Add per-sensor debug visualization checkboxes.

Generate a distinct color for cube i of n using HSV hue rotation.

Decompose pseudo-inertia matrix to MuJoCo body fields (exact). Extracts ``body_mass``, ``body_ipos``, ``body_inertia`` (principal moments), and `

Determine which axes to randomize.

Return a power-of-10 multiplier that brings *lo*/*hi* into a readable range. Values in [0.01, 100] render as clean decimals in MuJoCo's ``%g`` ti

Write buffered states to disk.

Batched eigendecomposition for 3x3 symmetric matrices via Jacobi. Avoids ``torch.linalg.eigh`` (and the cuSOLVER library it loads), which allocates

Reference aabb half-size computation matching MuJoCo ComputeAABB.

Ground-truth projected gravity for a body with world orientation ``q``. proj = R(q)^T @ g_world, computed from an explicit rotation matrix so it do

Reference rbound computation matching MuJoCo GetRBound.

Return Python source for a cell, or None if it has no Python to parse. Handles ``%%writefile path.py`` cells by returning their body (only when the

Snapshot a source mesh geom's attributes for slot-aware compile.

Extract yaw-only rotation matrix (rotation around Z axis). Handles the singularity at ±90° pitch by falling back to the Y-axis when the X-axi

Find an actuator that targets the given target.

Find target IDs and names based on transmission type. Args: cfg: Action configuration. Returns: Tuple of (target_ids, target_nam

Hook for subclasses to run forward kinematics while paused.

Convert geom group tuple to mujoco_warp vec6 format. In the vec6 format, -1 means include and 0 means exclude.

Return nearest neighboring env ids to render as context. We render a small local neighborhood around ``env_idx`` instead of the first N envir

Reset environment(s) and apply GUI-selected command state.

Auto-discover and import packages registered via entry points. Looks for packages registered under the 'mjlab.tasks' entry point group. Each disc

Create delay buffer. Called during initialize().

Create per-term figures and histories.

Per-world mesh path: build model with per-world geom_dataid. ``self._mj_model`` remains a single host-side template model. The actual simulat

Initialize bias tensor shape based on data and configuration.

Interpolates the motion to the output fps.

Yield (module, name) for every ``from mjlab... import name`` in source.

Return a generalized-force field sliced to this entity's joint DoFs.

Loads the motion from the csv file.

Helper: single-joint arm with a motor actuator.

Create an env with camera and light fields expanded.

Build a cfg with sensible PID defaults. ``extra`` forwards any other BuiltinDcMotorActuatorCfg kwarg (effort_limit, integral_gain, thermal, delay_

One-step episode (time_out fires after a single step).

Create a mock action term factory.

Create an env with body_quat, geom_quat, site_quat expanded.

Log lightweight Viser pipeline timing in debug mode.

Returns (motorconst, resistance, nominal) for set_to_dcmotor.

Populate per-world Warp arrays for the geometry-dependent fields. Compiles each variant's *source* spec in isolation (small, single-entity spec)

Convert ranges to a consistent dictionary format.