unilab.base.entity.EntityData

class unilab.base.entity.EntityData[source]

Bases: object

Backend host adapter plus Torch cold tables owned by the entity facade.

The remaining host getters and default arrays are explicit adapter internals; Manager runtime reads use packed Torch views or cached tensor tables. Control writes publish into the same actuator layout without touching backend-private state.

Parameters:

Methods

__init__(backend, *, root_body_ids, ...)

default_joint_pos(device)

Return the cold-path default joint positions as a cached tensor.

default_joint_vel(device)

Return the cold-path default joint velocities as a cached tensor.

default_root_state(device)

Return the immutable default root state as a cached tensor table.

gravity_vec_w(device)

Return the immutable world-frame gravity vector as a cached tensor table.

set_encoder_bias_tensor(values)

Publish a device-resident encoder-bias transaction.

soft_joint_pos_limits(device)

Return the cold-path joint position limits as a cached tensor.

update_encoder_bias_tensor_mask(reset_mask, ...)

Merge full-width authoritative encoder-bias values by mask.

write_ctrl(values[, env_ids, actuator_ids])

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

Attributes

control_buffer

Return the authoritative actuator control buffer without copying.

encoder_bias

Mutable per-environment joint encoder bias used by position actions.

encoder_bias_tensor

Return the mutable encoder bias as a same-storage Torch view.
__init__(backend, *, root_body_ids, joint_pos_ids, joint_qpos_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, root_body_name, body_names, actuator_ids, actuator_ctrl_range, control_buffer, entity_name, backend_type, state_read_cache)[source]
Parameters:
gravity_vec_w(device)[source]

Return the immutable world-frame gravity vector as a cached tensor table.

Parameters:

device (str | device)

Return type:

Tensor

default_root_state(device)[source]

Return the immutable default root state as a cached tensor table.

Parameters:

device (str | device)

Return type:

Tensor

default_joint_pos(device)[source]

Return the cold-path default joint positions as a cached tensor.

Parameters:

device (str | device)

Return type:

Tensor

default_joint_vel(device)[source]

Return the cold-path default joint velocities as a cached tensor.

Parameters:

device (str | device)

Return type:

Tensor

soft_joint_pos_limits(device)[source]

Return the cold-path joint position limits as a cached tensor.

Parameters:

device (str | device)

Return type:

Tensor

property encoder_bias: ndarray

Mutable per-environment joint encoder bias used by position actions.

property encoder_bias_tensor: Tensor

Return the mutable encoder bias as a same-storage Torch view.

set_encoder_bias_tensor(values)[source]

Publish a device-resident encoder-bias transaction.

The tensor becomes the authoritative same-storage carrier. This is an explicit public tensor boundary for DEVICE_RESIDENT owners; CPU/HOST bridge owners retain the existing NumPy carrier.

Parameters:

values (Tensor)

Return type:

None

update_encoder_bias_tensor_mask(reset_mask, columns, values)[source]

Merge full-width authoritative encoder-bias values by mask.

Parameters:
Return type:

None

property control_buffer: ndarray | Tensor | None

Return the authoritative actuator control buffer without copying.

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 TorchEnv/SimBackend; this method never steps or calls a backend-private API.

Parameters:
Return type:

None