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unilab.base.entity.EntityData¶

class unilab.base.entity.EntityData[source]¶

Bases: object

Hot-path NumPy state surface backed by cached backend IDs.

Parameters:

backend (SimBackend)
root_body_ids (ndarray | None)
joint_pos_ids (ndarray | None)
joint_vel_ids (ndarray | None)
default_root_state (ndarray | None)
default_root_state_error (str | None)
default_joint_pos (ndarray | None)
default_joint_vel (ndarray | None)
soft_joint_pos_limits (ndarray | None)
gravity_vec_w (ndarray | None)
body_ids (ndarray | None)
actuator_ids (ndarray | None)
actuator_ctrl_range (ndarray | None)
control_buffer (ndarray | None)
entity_name (str)
backend_type (str)
state_read_cache (_EntityStateReadCache)

Methods

`__init__`(backend, *, root_body_ids, ...)
`body_link_ang_vel_w_rows`(env_ids)	Row-scoped variant of body_link_ang_vel_w for partial-reset rebuilds.
`body_link_lin_vel_w_rows`(env_ids)	Row-scoped variant of body_link_lin_vel_w for partial-reset rebuilds.
`body_link_pos_w_rows`(env_ids)	Row-scoped variant of body_link_pos_w for partial-reset rebuilds.
`body_link_quat_w_rows`(env_ids)	Row-scoped variant of body_link_quat_w for partial-reset rebuilds.
`write_ctrl`(values[, env_ids, actuator_ids])	Write entity-local actuator controls into the env-owned control buffer.

Attributes

`actuator_ctrl_range`
`body_link_ang_vel_w`
`body_link_lin_vel_w`
`body_link_pos_w`
`body_link_pose_w`
`body_link_quat_w`
`body_link_vel_w`
`default_joint_pos`	Read-only per-environment default joint positions.
`default_joint_vel`	Read-only zero default velocities from the UniLab reset contract.
`default_root_state`	Read-only 13-D community root state for every environment.
`encoder_bias`	Mutable per-environment joint encoder bias used by position actions.
`gravity_vec_w`	Read-only world-frame unit gravity vector for every environment.
`heading_w`	Root yaw in the world frame, derived from the backend quaternion view.
`joint_pos`
`joint_pos_biased`	Joint positions with the manager-owned encoder bias applied.
`joint_vel`
`projected_gravity_b`	Unit gravity vector projected into the root link frame.
`root_link_ang_vel_b`
`root_link_ang_vel_w`
`root_link_lin_vel_b`
`root_link_lin_vel_w`
`root_link_pos_w`
`root_link_pose_w`
`root_link_quat_w`
`root_link_vel_w`
`soft_joint_pos_limits`	Read-only joint position limits in the declared entity joint order.

__init__(backend, *, root_body_ids, joint_pos_ids, joint_vel_ids, default_root_state, default_root_state_error, default_joint_pos, default_joint_vel, soft_joint_pos_limits, gravity_vec_w, body_ids, actuator_ids, actuator_ctrl_range, control_buffer, entity_name, backend_type, state_read_cache)[source]¶

Parameters:

backend (SimBackend)
root_body_ids (ndarray | None)
joint_pos_ids (ndarray | None)
joint_vel_ids (ndarray | None)
default_root_state (ndarray | None)
default_root_state_error (str | None)
default_joint_pos (ndarray | None)
default_joint_vel (ndarray | None)
soft_joint_pos_limits (ndarray | None)
gravity_vec_w (ndarray | None)
body_ids (ndarray | None)
actuator_ids (ndarray | None)
actuator_ctrl_range (ndarray | None)
control_buffer (ndarray | None)
entity_name (str)
backend_type (str)
state_read_cache (_EntityStateReadCache)

property root_link_pos_w: ndarray¶

property root_link_quat_w: ndarray¶

property root_link_lin_vel_w: ndarray¶

property root_link_ang_vel_w: ndarray¶

property root_link_lin_vel_b: ndarray¶

property root_link_ang_vel_b: ndarray¶

property heading_w: ndarray¶: Root yaw in the world frame, derived from the backend quaternion view.

property projected_gravity_b: ndarray¶: Unit gravity vector projected into the root link frame.

property gravity_vec_w: ndarray¶: Read-only world-frame unit gravity vector for every environment.

property root_link_pose_w: ndarray¶

property root_link_vel_w: ndarray¶

property default_root_state: ndarray¶: Read-only 13-D community root state for every environment.

property joint_pos: ndarray¶

property joint_vel: ndarray¶

property joint_pos_biased: ndarray¶: Joint positions with the manager-owned encoder bias applied.

property default_joint_pos: ndarray¶: Read-only per-environment default joint positions.

property default_joint_vel: ndarray¶: Read-only zero default velocities from the UniLab reset contract.

property soft_joint_pos_limits: ndarray¶: Read-only joint position limits in the declared entity joint order.

property encoder_bias: ndarray¶: Mutable per-environment joint encoder bias used by position actions.

property body_link_pos_w: ndarray¶

property body_link_quat_w: ndarray¶

property body_link_lin_vel_w: ndarray¶

property body_link_ang_vel_w: ndarray¶

property body_link_pose_w: ndarray¶

body_link_pos_w_rows(env_ids)[source]¶

Row-scoped variant of body_link_pos_w for partial-reset rebuilds.

Parameters:: env_ids (ndarray)
Return type:: ndarray

body_link_quat_w_rows(env_ids)[source]¶

Row-scoped variant of body_link_quat_w for partial-reset rebuilds.

Parameters:: env_ids (ndarray)
Return type:: ndarray

body_link_lin_vel_w_rows(env_ids)[source]¶

Row-scoped variant of body_link_lin_vel_w for partial-reset rebuilds.

Parameters:: env_ids (ndarray)
Return type:: ndarray

body_link_ang_vel_w_rows(env_ids)[source]¶

Row-scoped variant of body_link_ang_vel_w for partial-reset rebuilds.

Parameters:: env_ids (ndarray)
Return type:: ndarray

property body_link_vel_w: ndarray¶

property actuator_ctrl_range: ndarray¶

write_ctrl(values, env_ids=None, *, actuator_ids=None)[source]¶

Write entity-local actuator controls into the env-owned control buffer.

This is an in-memory scene write, analogous to the pinned manager runtime’s entity target buffers. Physics remains owned by NpEnv/SimBackend; this method never steps or calls a backend-private API.

Parameters:

values (ndarray)
env_ids (ndarray | slice | None)
actuator_ids (ndarray | Sequence[int] | slice | None)

Return type:

None