Args: frame_name: qpos: joint position (DoF)

Input: data: shape (n_x_axis, n_bars_per_x) scatter_points: shape (n_x_axis, n_bars_per_x, n_points_per_bar)

Args: qpos: position of the actuated joints Return: qpos_f: position of all dof joints

Args: jacobian: shape (n_batch, 6, n_dof) computed by self.robot_model Return: jacobian: shape (n_batch, 6, n

Update forward kinematics of joints and frames.

Creates a new @tag element with attributes specified by @**kwargs. Args: tag (str): Type of element to create name (None or

Call the optimization for retargeting. If arm_qpos is provided, it will be injected into ref_values.

Writes values to a group of motors. Args: motor_ids: The motor IDs to write to. values: The values to write.

Converts the given value from its unsigned representation.

Initializes a new client. Args: motor_ids: All motor IDs being used by the client. port: The Dynamixel device to talk

Connects to the Dynamixel motors. NOTE: This should be called after all DynamixelClients on the same process are created.

Args: Raw stream data provided by VisionProStreamer Return: num_box: 1 kp_pos_in_wrist_mano: hand

Find all element(s) matching the requested @tag and @attributes. If @return_first is True, then will return the first element found matching

Reads data from the motors.

Writes the given desired positions. Args: motor_ids: The motor IDs to write to. positions: The joint angles in radian

qpos_doa to qpos_dof.

One low-level simulation step.

Converts a numeric array into the string format in mujoco. Examples: [0, 1, 2] => "0 1 2" Args: array (n-array): Array

Ensures the robot is connected.

if axis and jnt_range is None, create a fixed joint. otherwise, create a revolute joint

Disconnects from the Dynamixel device.

Args: update: if False, it will return the current self.curr_joint_pos, but it does not mean the self.curr_jo

Handles the result from a communication request.

Function: Analytical inverse of jacoLeftBCH(). Support batch operation.

Move to the target joint position in a controllable speed. Args: exe_one_step: If True: only execute the

Multiply two quaternions. Usual torch rules for broadcasting apply. Args: a: Quaternions as tensor of shape (..., 4), real part

Force set the joint positions (ignoring physics)

input: positions: size of [-1, 3] target_frame_pose: matrix with size of [4, 4] target_frame_pose in curr

Update self.curr_joint_pos

Extract the first or third Euler angle from the two members of the matrix which are positive constant times its sine and cosine. Args:

Returns a copy of the data.

Converts any type of {bool, int, float, list, tuple, array, string, np.str_} into an mujoco-xml compatible string. Note that an input str

create a body with given mass and inertia

create a dummy body with negligible mass and inertia

Compute the 3D coordinate frame (orientation only) from detected 3d key points Args: keypoint_3d_array: keypoint3 detected from Media

Assume the first joint in a fixed tendon is the active joint, and the second joint is the mimic joint. The setting of the tendon must be: coe

Args: hand_kps_in_wrist: wrist_pose_in_world:

Args: hand_kps_in_wrist: wrist_pose_in_world:

Calculate the orientation error between the retargeted qpos and the target qpos.

Calculate the position error between the retargeted qpos and the target qpos.

If a ROS node is available, publish the current joint state to the 'joint_states' topic for visualizing the robot state in RViz.

Apply the rotation given by a quaternion to a 3D point. Usual torch rules for broadcasting apply. Args: quaternion: Tensor of qu

Given a quaternion representing rotation, get the quaternion representing its inverse. Args: quaternion: Quaternions as tensor o

Convert rotations given as quaternions to rotation matrices. Args: quaternions: quaternions with real part first, as ten

Generate random quaternions representing rotations, i.e. versors with nonnegative real part. Args: n: Number of quaternions in a

Returns the current positions and velocities.

Returns the current positions and velocities.

Calculate the relative position error from primary fingertips to thumb fingertip between the retargeted qpos and the target qpos.

Forcefully set joint angles (ignoring physical dynamics) and update the target state.

Sets whether torque is enabled for the motors. Args: motor_ids: The motor IDs to configure. enabled: Whether to engag

Optimize only the arm joint angles without changing the hand (finger) joint angles. Args: target_link_name: Name of the

Convert a unit quaternion to a standard form: one in which the real part is non negative. Args: quaternions: Quaternions with re

- The mesh files must be in the same folder as the urdf file (no sub-folders). - The input urdf file may be modified.

Return: target_hand_kps_in_wrist: target_wrist_pose_in_world: qpos_retarget:

Return the rotation matrices for one of the rotations about an axis of which Euler angles describe, for each value of the angle given. A

Return a tensor where each element has the absolute value taken from the, corresponding element of a, with sign taken from the corresponding

Initializes the cached data.

The sent msg is the input joint pos + 180 degree.

Publish command to high-frequency interpolator node.

Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0.

Updates the data index for the given motor ID.

The updated joint pos is the received msg - 180 degree.