unilab.envs.mdp.events¶
Community-style reset event terms for UniLab’s NumPy manager runtime.
Functions
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Reset a floating root from defaults plus uniformly sampled SE(3) offsets. |
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Reset all materialized scene entities to backend default qpos/qvel. |
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Return concrete NumPy environment IDs, preserving community sentinel semantics. |
Classes
Transient random body impulses with a cooldown->trigger->sustain->expire lifecycle. |
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Pinned mjlab-style geom friction randomization through the reset payload. |
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Pinned mjlab-style joint armature randomization through the reset payload. |
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Pinned-mjlab-compatible PD gain randomization on UniLab reset payloads. |
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Pinned community velocity kick dispatched through the interval plan. |
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Startup-style mass+inertia scaling via one shared per-env factor. |
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Per-reset joint encoder calibration bias through the Entity data surface. |
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Community-compatible gravity randomization through reset transactions. |
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Community-compatible additive rigid-body CoM randomization. |
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Community-compatible body-mass randomization via the reset payload. |
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- unilab.envs.mdp.events.apply_body_impulse¶
alias of
ApplyBodyImpulse
- unilab.envs.mdp.events.dof_armature¶
alias of
JointArmature
- unilab.envs.mdp.events.geom_friction¶
alias of
GeomFriction
- unilab.envs.mdp.events.joint_armature¶
alias of
JointArmature
- unilab.envs.mdp.events.push_by_setting_velocity¶
alias of
PushBySettingVelocity
- unilab.envs.mdp.events.randomize_body_mass_inertia¶
alias of
RandomizeBodyMassInertia
- unilab.envs.mdp.events.randomize_encoder_bias¶
alias of
RandomizeEncoderBias
- unilab.envs.mdp.events.randomize_physics_scene_gravity¶
alias of
RandomizePhysicsSceneGravity
- unilab.envs.mdp.events.randomize_rigid_body_com¶
alias of
RandomizeRigidBodyCom
- unilab.envs.mdp.events.randomize_rigid_body_mass¶
alias of
RandomizeRigidBodyMass
- unilab.envs.mdp.events.reset_root_state_uniform(env, env_ids, pose_range, velocity_range=None, asset_cfg=SceneEntityCfg(name='robot', joint_names=None, joint_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), geom_names=None, geom_ids=slice(None, None, None), site_names=None, site_ids=slice(None, None, None), actuator_names=None, actuator_ids=slice(None, None, None), tendon_names=None, tendon_ids=slice(None, None, None), camera_names=None, camera_ids=slice(None, None, None), light_names=None, light_ids=slice(None, None, None), material_names=None, material_ids=slice(None, None, None), texture_names=None, texture_ids=slice(None, None, None), pair_names=None, pair_ids=slice(None, None, None), preserve_order=False))[source]¶
Reset a floating root from defaults plus uniformly sampled SE(3) offsets.
This is the NumPy adaptation of the pinned mjlab event. UniLab currently has no public mocap-pose write contract, so fixed-base/mocap requests fail through the entity’s cached floating-root capability instead of falling back.