API Reference

Detailed reference for the unilab Python package. Every public class, function, and submodule is auto-extracted from the source tree via sphinx.ext.autodoc + autosummary. If a symbol you expect is missing, please open an issue.

Note

Reading this in a preview build that says “no API reference”? The build environment couldn’t import unilab. Install UniLab in the same venv, or read this section on the live site.

Core foundations

🧱 unilab.base

The contracts everything else depends on: NpEnv, SimBackend, Registry, Scene.

unilab.base — Core Contracts
🧪 unilab.envs

Manager-Based environment runtime and task-agnostic MDP terms layered on top of base.

unilab.envs — Environment runtime
🤖 unilab.tasks

Concrete locomotion, manipulation, and motion-tracking task packages.

unilab.tasks — Concrete tasks

Learning stack

🎛 Learning algorithms → uni_rl

PPO / APPO / SAC / TD3 variants moved to the uni_rl package (issue #1480).

Learning Algorithms — moved to uni_rl
🏋 unilab.training

Runtime helpers, monitoring, reward bookkeeping, runner orchestration.

unilab.training — Training Runtime
🔗 Shared-memory runtime → uni_rl.ipc

Shared-memory rollout and replay primitives moved to the uni_rl package (issue #1480).

Shared-Memory Runtime — moved to uni_rl
🧮 unilab.backend

MuJoCo and Motrix adapters that implement SimBackend.

unisim-core — Simulation Backends

Subsystems

🎲 unilab.dr

Declarative domain randomization manager.

unilab.dr — Domain Randomization
🏞 unilab.terrains

Procedural and heightfield terrain generators.

unilab.terrains — Procedural Terrain
👁 unilab.visualization

Scene rendering and viser bridges.

unilab.visualization — Visualization
🧰 unilab.utils

Math, IO, and numerical helpers.

unilab.utils — Utilities
📝 Training logging → uni_rl.logging

W&B / TensorBoard bridges and structured logging moved to the uni_rl package (issue #1480).

Training Logging — moved to uni_rl

Top-level package