Data structure to store the trajectory data. It holds everything in SingleData, but with an additional dimension (the batch dimension for an

Main data structure to store the trajectories. Args: info (TrajectoryInfo): Static information about the trajectory. This includes t

General class to handle Trajectories. It filters and extends the trajectory data to match the current model's joints, bodies and sites. The k

Data structure to store relevant attributes of the Mujoco model.

Contains training state for the learner.

Brax wrapper for domain randomization.

Maintains episode step count and sets done at episode end.

Data structure to store relevant attributes of Mujoco Data. This data structure is supposed to be a reduced version of the Mujoco data struct

Data structure to store the trajectory information.

Data structure to store tuples of transitions observations, next_observations, actions, rewards, absorbings, and dones to be used for trainin

Vectorizes Brax env.

Logs training metrics for each episode.

Class to run evaluations.

Base class for G1 environments.

Base class that can be used to do things while replaying a trajectory.