unisim.backend.mjwarp.randomization.PrimitiveGeomBounds

class unisim.backend.mjwarp.randomization.PrimitiveGeomBounds[source]

Bases: object

Cold-path geometry classification for batch-only bounds recomputation.

Uses official MuJoCo primitive geometry formulas. Meshes, planes, height fields and SDFs may appear in dense payloads unchanged, but resizing them is unsupported. No model/XML metadata is consulted during reset.

Parameters:

Methods

__init__(geom_types, geom_enum)

compute(sizes, previous_sizes, ...)

Validate a dense size update and derive detached selected-row bounds.
__init__(geom_types, geom_enum)[source]
Parameters:
compute(sizes, previous_sizes, previous_rbound, previous_aabb)[source]

Validate a dense size update and derive detached selected-row bounds.

Parameters:
Return type:

tuple[ndarray, ndarray]