Pre-allocate capacity to avoid reallocations during extension

Register a callback to be invoked (on the background thread) for each successfully decoded packed message. Must be called before Start().

Spawn the background receive thread. Requires a callback and a connection.

Return the number of joints in a group, cached since lookup is static.

Assemble a 'command' topic message: - start: u8 (1=start control) - stop: u8 (1=stop control) - planner: u8 (1=planner mode, 0=

Call an endpoint on the server. Args: endpoint: The name of the endpoint. data: The input data for the endpo

@brief returns an iterator to one past the last element @sa https://json.nlohmann.me/api/basic_json/cend/

@brief returns an iterator to one past the last element @sa https://json.nlohmann.me/api/basic_json/cend/

Clean up tmux session

Clip the configuration to stay within joint limits with a small tolerance. :param q: Configuration to clip :param margin: To

Close the simulation. Can be overridden by subclasses.

Close the RerunViz instance.

Convert the Image to a different color format. 'components': The number of color channels the Image will have after the conversion.

Extract root position and rotation (as 6D) from decoder output. Always returns 6D rotations. For geodesic loss, convert to matrices in the loss f

Detects whether input contains full, root-only, or body-only features. Args: motion (torch.Tensor): Motion features of shape [...

Path to per-user data folder, should always be the same as getPath('data').

Get MakeHuman folder that contains per-user files, located in the user home path.

Get the mapped camera key and dimensions for a given camera key. Args: key: The input camera key Returns:

std::istream/std::streambuf use std::char_traits<char>::to_int_type, to ensure that std::char_traits<char>::eof() and the character 0xFF do not end up

std::istream/std::streambuf use std::char_traits<char>::to_int_type, to ensure that std::char_traits<char>::eof() and the character 0xFF do not end up

Check safety and handle violations appropriately. Args: obs: Observation dictionary action: Action dictionary

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

return whether the iterator can be dereferenced

return whether the iterator can be dereferenced

Compute mean of values where mask is True.

Normalize a feature vector or a index of it. Args: motion (torch.Tensor): [..., D] the motion to normalize index (Opt

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

Unicode representation of the filename. Bytes is decoded with the codeset used by the filesystem of the operating system. Unicode rep

Print message and optionally speak it using Text To Speech.

The inverse of the rotation

Reset the forward kinematics to the initial configuration.

Convert 3x3 rotation matrix to quaternion (wxyz format output) - double version

Set whether this mesh is to be subdivided (or smoothed). When set to true, the subdivision mesh is automatically created or u

Start the Joy-Con device.

Unnormalize a normalized motion. Only one of root_only, nonroot_only, and contacts_only should be true. Args: motion (tor

* @brief Initialize the encoder engine from a model path * @param model_path Path to ONNX model file (will be converted to TensorRT) * @param us

Receive raw wireless remote data for gamepad

Initialize cumulative error tracking buffers. Args: cfg: Termination term config. Expected ``params`` keys: ``min

Compute closed hand joint positions using G1GripperInverseKinematicsSolver.

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

Create a flat box fixture; add assets + body to the compiled model.

Mirror observations left-right for symmetry augmentation. Args: obs: Observation tensor ``(batch, seq, obs_dim)``. ke

Compute geodesic angle loss on rotation matrices with optional masking. Args: pred_rot, gt_rot: [..., 3, 3] rotation matrices mas

Extract 3-point VR pose (L-Wrist, R-Wrist, Neck) from full SMPL body joint poses. NOTE: We use Neck (joint 12) instead of Head (joint 15) be