📖 API Reference
OrcaGym API documentation to help you quickly find the interfaces you need.
Module Index
| Module |
Description |
| 🧬 Core API |
Simulation core, model, state, solver configuration |
| 🌍 Environment API |
Gymnasium environment base class and methods |
| 🎬 Scene API |
Scene management, Actor, lights, materials |
| 📷 Sensor API |
Camera, sensor data acquisition |
| 🔧 Utils API |
Inverse kinematics, joint control, rotation utilities |
Quick Navigation
Getting Started
- Start with
OrcaGymEulerEnv in the Environment API — this is the main entry point for writing environments
- Learn about Model, Data, and SimConfig in the Core API
- Check out controllers and rotation utilities in the Utils API
Find by Task
| Task |
Related API |
| Create robot training environment |
OrcaGymEulerEnv |
| Read simulation state |
env.data → env.data.qpos / env.data.body_xpos(name) |
| Set solver parameters |
env.sim_config → env.sim_config.timestep = 0.002 |
| Query body/site state |
env.query_*() / env.get_body_*() |
| Apply external force |
env.apply_body_force(name, force, torque) |
| Grasp/drag objects |
Mocap + equality constraints |
| Camera image capture |
CameraWrapper |
| Place objects in scene |
OrcaGymScene |
| Inverse kinematics control |
InverseKinematicsController |
| Joint torque control |
JointController |
| Rotation/pose conversion |
rotations |
| Record video |
begin_save_video / stop_save_video |
Key Concepts Quick Reference
| Concept |
Description |
See |
| Body |
Rigid body, the basic unit of physics simulation |
Core API |
| Joint |
Joint, a constraint connecting bodies |
Core API |
| Actuator |
Actuator, the element that drives the robot |
Core API |
| Geom |
Geometry, a collision detection shape |
Core API |
| Site |
Marker point, does not participate in physics simulation |
Core API |
| Sensor |
Sensor, measures physical quantities |
Sensor API |
| Mocap Body |
Freely movable virtual body |
Core API |
| Equality Constraint |
Equality constraint, connects two bodies |
Core API |
| qpos/qvel/qacc |
Generalized coordinates/velocity/acceleration |
Core API |
| Frame Skip |
Number of physics steps per step() |
Environment API |
API Usage Conventions
The following are recommended practices for using the OrcaGym API:
| ✅ Recommended |
❌ Avoid |
env.data.qpos |
Direct access to MuJoCo internal data structures |
env.data.body_xpos("link1") |
Access body via internal ID |
env.sim_config.timestep = 0.002 |
Directly modify raw solver parameters |
env.apply_body_force("link1", f, tau) |
Directly write to external force arrays |
env.do_simulation(ctrl, n_frames) |
Manual stepping and syncing |
env.query_joint_qpos([...]) |
Indirect access to internal data structures |