unisim.backend.mjwarp.randomization.expand_model_fields¶
- unisim.backend.mjwarp.randomization.expand_model_fields(warp, model, nworld)[source]¶
Tile the declared DR model fields from
(1, ...)to(nworld, ...).Returns the names actually expanded. Fields already per-world (e.g. from a prior expansion) are skipped, mirroring mjlab’s guard. A single-world backend keeps the shared arrays untouched.