Construct an ordered dictionary from the object :rtype: OrderedDict

Updates the scene with latest sim data Args: data: structure storing current simulation state scene_option: we use th

Return a zero loss tensor with requires_grad=True.

Build a frame mask for velocity (finite-difference) tensors. Velocity at frame i uses frames i and i+1, so frame i is valid only if both fram

Run a command in a new tmux window or pane

r"""Convert an angle axis to a quaternion. The quaternion vector has components in (x, y, z, w) or (w, x, y, z) format. Adapted from ceres C

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

Calculate heading quaternion from full quaternion (wxyz format) - double version

Cycle through states: IDLE -> RECORDING -> NEED_TO_SAVE -> IDLE.

! @brief internal implementation of the serialization function This function is called by the public member function dump and organizes t

Extracts root motion features from input. Args: motion (torch.Tensor): Motion features of shape [..., D] Returns:

Compute and return the next action at the specified time, based on current observation and planner command. Args: time: O

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

brief: num heads for the tokenizers

Get the robot type from the robot name.

Get current state.

Convert features from global to local representation. Args: features: Input features in global representation is_norm

Convert rotations given as rotation matrices to quaternions. Args: matrix: Rotation matrices as tensor of shape (..., 3, 3). Returns:

Returns a context manager for timing an operation.

Return the width of the Image in pixels.

* @brief Get input dimension * @return Input dimension size */

@return True if the payload byte order differs from the native CPU order.

Stop the background thread and close the socket.

Called by the manager to request a safety reset on this interface.

Poll current tracking data and return it as a dictionary. Returns: Dict with keys ``left_controller``, ``right_controller``, ``he

Perform forward kinematics using the reduced configuration. :param q_reduced: Configuration in reduced space

Return canonical name for location specified by path. Useful for comparing paths.

Transform motion to be relative to the first frame. Args: motion: Input motion features is_normalized: Whether input

Close OpenXR session, stop DeviceIO + CloudXR runtime.

Convert decoder output to joint positions and 6D rotations (ortho6d). Always returns 6D rotations. For geodesic loss, convert to matrices in the

Return the device of the humanoid tensors.

Get current state.

@brief return whether value is a string @sa https://json.nlohmann.me/api/basic_json/is_string/

@brief return whether value is a string @sa https://json.nlohmann.me/api/basic_json/is_string/

@brief create JSON pointer @sa https://json.nlohmann.me/api/json_pointer/json_pointer/

@brief create JSON pointer @sa https://json.nlohmann.me/api/json_pointer/json_pointer/

L2-normalize a tensor along its last dimension. Args: x: Input tensor of any shape. eps: Minimum norm value to clamp to, preventi

@brief append an unescaped token at the end of the reference pointer @sa https://json.nlohmann.me/api/json_pointer/push_back/

@brief append an unescaped token at the end of the reference pointer @sa https://json.nlohmann.me/api/json_pointer/push_back/

Save numpy array as CSV file

Set the command from the planner that the policy should follow. Args: goal: Dictionary containing high-level commands or goals fr

Main simulation loop

Write ``data`` into the buffer at the current step for ``key``. Args: key: Previously registered buffer key. data: Te

Finalize recording - closes files and writes metadata