unilab.envs.mdp.events.reset_root_state_uniform¶
- 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.