Helper to use TextToSpeech print_and_say or fallback to print.

Clears both local and remote data to repurpose this object

Close and cleanup visualizer resources.

Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_r

Generate simple shoulder pitch waving motion for testing streamed motion at 50 Hz Parameters: num_frames: Number of frames to ge

Send a planner/movement command mode: int (LocomotionMode enum value) movement: [x, y, z] direction vector facing: [x

Send pose/motion data (Protocol Version 1: joint-based) joint_pos: [N, num_joints] joint positions joint_vel: [N, num_joints]

Recursively converts AttrDict to a normal dictionary

return value of the iterator

Compute loss with optional mask, supporting all loss types. Uses torch loss functions with reduction='none' so masking works uniformly. mask

Construct a skeleton state from rotation and root translation :param skeleton_tree: the skeleton tree :type skeleton_tree: S

Restore adaptive sampling statistics from a checkpoint. Validates that the bin count matches before restoring. If it does not match (

Run a single test with the specified mode.

Extracts a specific feature subset from the motion representation. Args: motion (torch.Tensor): Motion features of shape [..., D]

This method is used to call the update methods on each of a list of vertices or all vertices that form part of this object. Passes th

Resets simulation internal configurations.

Recursively instantiate nested configs with _target_ fields.

Return the numpy ndarray that contains the Image data.

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

Get the full 8 bounding box points of the object rot: a rotation matrix

@brief return whether value is a binary array @sa https://json.nlohmann.me/api/basic_json/is_binary/

@brief return whether value is a binary array @sa https://json.nlohmann.me/api/basic_json/is_binary/

Print debug message. Only if XML_H_DEBUG is defined.

Quaternion conjugate (negate x, y, z components) - float version

Toggle evaluation mode, which disables reset randomizations.

Convert SMPL root quaternion from Y-up to Z-up convention. Args: root_quat_y_up: Root quaternions in Y-up frame, ``(N, 4)``.

Update normalizer from gt, normalize both gt and pred. Flattens trailing dims to match normalizer's expected feature dim, updates running sta

Build a frame mask for a loss tensor. Args: frame_mask: [..., max_frames] bool (from loss_inputs), or None num_frames_in_tensor:

Get device from loss_inputs, handling kinematic-only mode where action_mean is None.

Sample actions from the current policy for a single timestep. Update the action distribution and sample from it. Used during the PPO

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

Path to the data folder that is installed with MakeHuman system-wide. NOTE: do NOT assume that getSysPath("data") == getSysDataPath()!

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

Returns the button state by name (bool). Valid names: "A", "B", "X", "Y", "left_menu_button", "right_menu_button",

Get the configuration of hand actuated joints from a full configuration. Args: q: Configuration in full space

Read the current state of this environment Returns: dict: A dictionary of observations

Quick helper: OPEN - move to open pose using per-joint 0 with gains

@brief applies a JSON patch to a copy of the current object @sa https://json.nlohmann.me/api/basic_json/patch/

Quaternion conjugate (negate x, y, z components) - double version

Combine two set of 3D rotations together using \**\* operator. The shape needs to be broadcastable

Rotate a 3D vector by a quaternion (quaternion in wxyz format) - double version

Return the full buffer tensor for ``key``. Args: key: Previously registered buffer key. Returns: Tensor of s

Convert a reduced configuration to the full configuration space. :param q_reduced: Configuration in reduced space :return: C

Save the Image to a file.

Kick off the main control loop thread.