Create a Gr00tDataExporter object. Args: save_root: The root directory to save the dataset. fps: The frame r

return value of the iterator

Get the indices of hand actuated joints in the full configuration. Ordering is that of the actuated joints as defined in the suppleme

! @brief public parser interface @param[in] strict whether to expect the last token to be EOF @param[in,out] result parsed JSON val

Return the size of the Image as a (width, height) tuple.

Alias for GetMotion - kept for backward compatibility

Print debug message only if debug mode is enabled.

Returns a context manager for timing an operation. Example usage: with telemetry.timer("operation_name"): # Code

Quick helper: CLOSE - move to mid-range pose (per Unitree example) with gains

! @return a string representation of the last read byte */

! @return a string representation of the last read byte */

access to successor

access to successor

Return ``obj.<name>`` if present, else ``obj[<name>]`` if dict-like, else ``default``.

Compute gravity compensation torques for specified joint groups using pinocchio. :param q: Robot configuration (joint positions)

Perform forward kinematics to update the pose of every joint and frame in the Pinocchio data structures for the given configuration `

Simple

Get the index in the degrees of freedom vector corresponding to the single-DoF joint with name `joint_name`.

Run an infinite deterministic evaluation loop with the current policy. Resets the environment, then repeatedly queries the policy for mean

Get the full configuration from the body and hand actuated joint configurations. Can specify either both hands together or left and r

Allocate and register a new storage buffer for the given key. The buffer has shape ``(num_transitions_per_env, num_envs, *shape)`` an

Get the indices of joints in one or more groups in the full configuration. Requires supplemental_info to be provided. The ret

@brief return whether value is an array @sa https://json.nlohmann.me/api/basic_json/is_array/

@brief return whether value is an array @sa https://json.nlohmann.me/api/basic_json/is_array/

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

Update the button state for this frame.

Ensure body_models directory exists. Args: model_path: Path to body_models directory (e.g., "data/body_models") Returns: Pat

@brief returns an iterator to the first element @sa https://json.nlohmann.me/api/basic_json/begin/

Release hardware resources.

boost::hash_combine

boost::hash_combine

@brief return whether value is null @sa https://json.nlohmann.me/api/basic_json/is_null/

@brief return whether value is null @sa https://json.nlohmann.me/api/basic_json/is_null/

Quaternion multiplication (wxyz format: w, x, y, z) - double version

Main simulation loop

! @brief get next character from the input This function provides the interface to the used input adapter. It does not throw in case the

Read the current sensor value (e.g. a dict of images).

Return indices into command.cfg.body_names for the requested subset. Args: command: TrackingCommand instance whose cfg.body_names defines

Instantiate a G1 robot model with configurable waist location and pose. Args: waist_location: Whether to put waist in "lower_body" (

Print info message always.

Generate a test frame with data that varies by step.

Normalize observations using running statistics.

Read the current sensor value. Args: **kwargs: Additional parameters specific to the sensor implementation (e.g.

Render the current frame (for real-time mode). Tracks render time and reports timing.

Send a command message start: bool (True=start control) stop: bool (True=stop control) planner: bool (True=planner mo

Write a message to the log file.