Append the data to the circular buffer. Args: data: The data to append to the circular buffer. The first dimension should be the

Load the configuration file into memory. This function reads the contents of the configuration file into memory. If the file does not

Returns the keys of the scene entities. Returns: The keys of the scene entities.

Run before terminating to make sure all logs are flushed

Dumps the config to a json. Args: filename (str): if not None, save to json file. Returns: json_str

Load a room layout from JSON data and set it as the current layout.

Utility function to configure AppLauncher arguments with an existing argument parser object. This function takes an ``argparse.ArgumentParser

Saves data into a YAML file safely. Note: The function creates any missing directory along the file's path. Args: filename:

Add a key-value pair to the dataset. The key can be nested by using the "/" character. For example: "obs/joint_pos". Args:

Write joint positions and velocities to the simulation. Args: position: Joint positions. Shape is (len(env_ids), len(joint_ids)).

Convert a dictionary (from JSON) back to a FloorPlan object. Args: layout_data: Dictionary containing the floor plan data

Given the support point (x, y) and yaw, it will return the forward and side movements. This is the inverse of the support_point function

Creates the encoder networks and locks the encoder so that more modalities cannot be added.

It will return a function that can calculate the x-y occupancy for the robot. x-y occupancy means the area that the robot takes up in the x-

Save the configuration file to disk.

Parse configuration for an environment and override based on inputs. Args: task_name: The name of the environment. device: The de

Whether data collection is stopped or not. Returns: True if data collection has stopped.

Step in the environment with an action. Args: action (np.array): action to take Returns: observatio

Wrapper for running tests via ``unittest``. Args: verbosity: Verbosity level for the test runner. **kwargs: Additional arguments

Context manager to build a simulation context with the provided settings. This function facilitates the creation of a simulation context and prov

Set the root center of mass velocity over selected environment indices into the simulation. The velocity comprises linear velocity (x, y, z)

Open an existing dataset file.

Clears the plot.

Saves data into a pickle file safely. Note: The function creates any missing directory along the file's path. Args: filename

Compute the desired state of the robot's end-effector and the gripper.

Set the root link state over selected environment indices into the simulation. The root state comprises of the cartesian position, quaternion

Set the root pose over selected environment indices into the simulation. The root pose comprises of the cartesian position and quaternion ori

Call VLM API with retry logic. Args: vlm_type: Type of VLM to use ("claude", "qwen", "openai", "glmv") model: Model name

Robustly extract JSON content from Claude's response, handling various formats. Args: response_text: Raw response text from Clau

Pass latents through decoder. Latents should be passed in to this function at train-time for backpropagation, but they can be

Add a key-value pair to the dataset. The key can be nested by using the "/" character. For example: "obs/joint_pos". Currently only t

Set the root state over selected environment indices into the simulation. The root state comprises of the cartesian position, quaternion orie

Loads an input PKL file safely. Args: filename: The path to pickled file. Raises: FileNotFoundError: When the specified file

Set the poses of the camera from the eye position and look-at target position. Args: eyes: The positions of the camera's eye. Sha

Set joint position targets into internal buffers. .. note:: This function does not apply the joint targets to the simulation. It

Writes data to the simulator.

Update this config using another config or nested dictionary.

Run the complete simulation sequence.

A context scope for modifying a Config object. Within the scope, only values can be updated (new keys cannot be created). Upon

Stop recording and save the file at its current state.

Copy artifacts from the running container to the host machine. Args: output_dir: The directory to copy the artifacts to. Defaults

Reset the internals of data logger.

Set the location and target of the viewport camera in the stage. Note: This is a wrapper around the :math:`omni.isaac.core.utils.

Flush the episode data based on environment indices. Args: env_ids: Environment indices to write data for. Defaults to (0).

Converts all numpy arrays and torch tensors in nested dictionary or list or tuple to torch tensors on device @device and returns a new neste

Apply the noise to the data. Args: data: The data to apply the noise to. Shape is (num_envs, ...). Returns:

plan the robot traj from start_pos, start_quat to end_pos, end_quat pos and quat are support_point_pos and support_point_quat plan the t

Attempt to sleep at the specified rate in hz.

Update markers in the viewport. .. note:: If the prim `PointInstancer` is hidden in the stage, the function will simply return

Export a FloorPlan object to JSON file. Args: layout: FloorPlan object to export export_path: Path where the JSON file w

Load a room layout from JSON data and set it as the current layout.

Returns the command for the specified command term. Args: name: The name of the command term. Returns: The c

Returns whether the simulation has any RTX-rendering related sensors. This function returns the value of the simulation parameter ``"/isaacla

Render from simulation to either an on-screen window or off-screen to RGB array. Args: mode (str): pass "human" for on-s

Sets the visibility of the markers. The method does this through the USD API. Args: visible: flag to set the visibility.

Visualize trajectory planning results for multiple environments in a single image. Args: room_bounds: tuple of (min_x, min_y, ma

Find bodies in the rigid body based on the name keys. Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` funct

Move the algo to a different device.

Stop timing.

Memory device for computation.

Find joints in the articulation based on the name keys. Please see the :func:`omni.isaac.lab.utils.string.resolve_matching_names` function fo

Generate a unique ID with the given prefix.

Steps the simulation. .. note:: This function blocks if the timeline is paused. It only returns when the timeline is playing.

Extract wall direction from wall ID. Args: wall_id: Wall ID string (e.g., "wall_room_abc123_north") Returns:

Convert a dictionary (from JSON) back to a FloorPlan object. Args: layout_data: Dictionary containing the floor plan data

Sample uniformly within a range. Args: lower: Lower bound of uniform range. upper: Upper bound of uniform range. size: Th

Record data with logger. Args: k (str): key string v (float or image): value to store epoch: curr

Recursively apply functions to a nested dictionary or list or tuple, given a dictionary of {data_type: function_to_apply}. Args:

Returns a batch of samples from the prior distribution. Args: n (int): this argument is used to specify the number

r"""Combine transformations between two reference frames into a stationary frame. It performs the following transformation operation: :math:`T_{0