unilab.base.reset_state

Base-owned reset-state transaction for Manager-Based event terms.

The transaction composes NumPy state writes in memory and hands the finished batch to SimBackend.set_state() exactly once. It deliberately knows nothing about task configuration, IPC, runners, or backend-private state.

Classes

ResetStateTransaction

Reusable, fail-closed transaction for reset-mode state mutation.
class unilab.base.reset_state.ResetStateTransaction[source]

Bases: object

Reusable, fail-closed transaction for reset-mode state mutation.

Parameters:
__init__(backend, *, default_qpos=None)[source]
Parameters:
property active: bool

Whether a reset lifecycle currently owns the transaction.

property last_commit_had_writes: bool

Whether the most recent scoped commit submitted dirty rows to set_state.

property last_set_state_timing_ms: dict[str, float]

Sub-timings from the most recent commit’s set_state call.

Always includes dr_reset_set_state_ms (outer wall-clock around the backend call); backend-reported set_state_*_ms sub-keys are merged in when the backend returns them. Empty when the last commit had no dirty rows.

scoped(env_ids)[source]

Begin a reset transaction and commit it only after all terms succeed.

Parameters:

env_ids (ndarray)

Return type:

Iterator[ResetStateTransaction]

begin(env_ids)[source]

Open a transaction for the concrete reset environment IDs.

Parameters:

env_ids (ndarray)

Return type:

None

bind_geom_size_write(column_ids, *, term_name)[source]

Bind immutable geom_size defaults through the declared backend capability.

Parameters:
Return type:

tuple[ndarray, ndarray]

write_geom_size(env_ids, column_ids, values, *, term_name)[source]

Stage selected geom_size values in the active reset.

Parameters:
Return type:

None

bind_geom_solref_write(column_ids, *, term_name)[source]

Bind immutable geom_solref defaults through the declared backend capability.

Parameters:
Return type:

tuple[ndarray, ndarray]

write_geom_solref(env_ids, column_ids, values, *, term_name)[source]

Stage selected geom_solref values in the active reset.

Parameters:
Return type:

None

bind_geom_solimp_write(column_ids, *, term_name)[source]

Bind immutable geom_solimp defaults through the declared backend capability.

Parameters:
Return type:

tuple[ndarray, ndarray]

write_geom_solimp(env_ids, column_ids, values, *, term_name)[source]

Stage selected geom_solimp values in the active reset.

Parameters:
Return type:

None

bind_dof_damping_write(column_ids, *, term_name)[source]

Bind immutable dof_damping defaults through the declared backend capability.

Parameters:
Return type:

tuple[ndarray, ndarray]

write_dof_damping(env_ids, column_ids, values, *, term_name)[source]

Stage selected dof_damping values in the active reset.

Parameters:
Return type:

None

bind_dof_frictionloss_write(column_ids, *, term_name)[source]

Bind immutable dof_frictionloss defaults through the declared backend capability.

Parameters:
Return type:

tuple[ndarray, ndarray]

write_dof_frictionloss(env_ids, column_ids, values, *, term_name)[source]

Stage selected dof_frictionloss values in the active reset.

Parameters:
Return type:

None

bind_body_mass_write(body_ids, *, term_name)[source]

Bind body-mass columns and immutable backend defaults on the cold path.

Parameters:
Return type:

tuple[ndarray, ndarray]

bind_body_ipos_write(body_ids, *, term_name)[source]

Bind body inertial-position columns and immutable backend defaults.

Parameters:
Return type:

tuple[ndarray, ndarray]

bind_body_inertia_write(body_ids, *, default, default_mass, term_name)[source]

Bind body-inertia columns with caller-supplied cold-path defaults.

SimBackend has no body-inertia getter, so the caller compiles the scene model on the cold path and supplies the full (nbody, 3) principal-inertia table in backend body-id order. default_mass is the full (nbody,) table from the same compile and is cross-validated against the backend’s authoritative body-mass table, which fail-closed pins the body set and row ordering.

Parameters:
Return type:

tuple[ndarray, ndarray]

bind_gravity_write(*, term_name)[source]

Bind the immutable backend gravity vector on the cold path.

Parameters:

term_name (str)

Return type:

ndarray

bind_dof_armature_write(dof_ids, *, term_name)[source]

Bind DOF-armature columns and immutable backend defaults.

Parameters:
Return type:

tuple[ndarray, ndarray]

bind_geom_friction_write(geom_ids, *, term_name)[source]

Bind geom-friction rows and immutable backend defaults.

Parameters:
Return type:

tuple[ndarray, ndarray]

write_body_mass(env_ids, body_ids, values, *, term_name)[source]

Stage selected body masses in the exactly-once reset payload.

Parameters:
Return type:

None

write_body_ipos(env_ids, body_ids, values, *, term_name)[source]

Stage selected body inertial positions in the reset payload.

Parameters:
Return type:

None

write_body_inertia(env_ids, body_ids, values, *, term_name)[source]

Stage selected body principal-inertia diagonals in the reset payload.

Parameters:
Return type:

None

write_gravity(env_ids, values, *, term_name)[source]

Stage per-environment gravity vectors in the reset payload.

Parameters:
Return type:

None

write_dof_armature(env_ids, dof_ids, values, *, term_name)[source]

Stage selected DOF armatures in the reset payload.

Parameters:
Return type:

None

write_geom_friction(env_ids, geom_ids, values, *, term_name)[source]

Stage selected three-axis geom friction in the reset payload.

Parameters:
Return type:

None

bind_actuator_gain_write(actuator_ids, *, term_name)[source]

Resolve gain mutation capability and immutable defaults on the cold path.

Parameters:
Return type:

tuple[ndarray, ndarray, ndarray]

write_actuator_gains(env_ids, actuator_ids, kp, kd, *, term_name)[source]

Stage selected per-environment actuator gains in the reset transaction.

Parameters:
Return type:

None

reset_to_default(env_ids, *, term_name)[source]

Stage backend default qpos/qvel for a subset of the active reset.

Parameters:
Return type:

None

write_joint_state(env_ids, qpos_indices, qvel_indices, position, velocity, *, term_name)[source]

Stage selected joint position and velocity columns in the reset batch.

Parameters:
Return type:

None

write_root_state(env_ids, layout, root_state, *, term_name)[source]

Stage a community 13-D world-frame root state.

Parameters:

  • env_ids (ndarray)

  • layout (BackendRootStateLayout)

  • root_state (ndarray)

  • term_name (str)

Return type:

None

write_root_pose(env_ids, layout, pose, *, term_name)[source]

Stage world position and wxyz orientation for one floating root.

Parameters:
Return type:

None

write_root_velocity(env_ids, layout, velocity_w, *, term_name)[source]

Stage world-frame root velocity in generalized qvel columns.

The public generalized-state contract stores free-root linear velocity in world coordinates and angular velocity in root-body coordinates. The conversion uses the pose already staged in this transaction.

Parameters:

  • env_ids (ndarray)

  • layout (BackendRootStateLayout)

  • velocity_w (ndarray)

  • term_name (str)

Return type:

None

read_root_pose(env_ids, layout, *, term_name)[source]

Read the world position and wxyz orientation staged for one floating root.

Returns a detached (len(env_ids), 7) copy of the pose currently staged in this transaction. Rows no term has written yet are first initialized to the backend default pose, so a later reset term can build on an earlier term’s root placement without re-deriving it.

Parameters:

  • env_ids (ndarray)

  • layout (BackendRootStateLayout)

  • term_name (str)

Return type:

ndarray

bind_mocap_pose(body_name)[source]

Resolve a mocap body once, without exposing a native backend handle.

Parameters:

body_name (str)

Return type:

BackendMocapPoseBinding

read_mocap_pose(body_name)[source]

Read current poses with this transaction’s pending rows overlaid.

Parameters:

body_name (str)

Return type:

ndarray

write_mocap_pose(body_name, env_ids, poses, *, term_name)[source]

Stage poses; upload only after the ordinary reset state has committed.

Parameters:
Return type:

None

commit()[source]

Commit all staged rows through one public backend call.

Return type:

dict | None

abort()[source]

Discard staged rows without touching the backend.

Return type:

None