Create a new dataset file.

Prepare the policy to start a new rollout.

Generate an articulation from a configuration. Handles the creation of the articulation, the environment prims and the articulation's environment

Generate an articulation configuration. Args: articulation_type: Type of articulation to generate. stiffness: Stiffness value for

Multiply two quaternions together. Args: q1: The first quaternion in (w, x, y, z). Shape is (..., 4). q2: The second quaternion i

Given the joint positions of forward, side, yaw, it will return the x-y coordinates of the link of base_support return: [x, y]

Args: input_dim (int): dimension of inputs output_dim (int): dimension of outputs layer_dims ([int]): s

Color the vertices of a trimesh object based on the z-coordinate (height) of each vertex, using the Turbo colormap. If the z-coordinates are

Export a FloorPlan object to a mesh file using trimesh. Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows,

Run the operational space controller with the given parameters. Args: robot (Articulation): The robot to control. osc

Args: inputs (dict): a dictionary that maps input modalities to torch.Tensor batches. These should correspond to

Get or create a persistent Isaac connection

Send a command to Isaac and return the response

Generate an appropriate Gymnasium space according to the given space specification. Args: spec: Space specification. Returns:

Filter environments collisions. Disables collisions between the environments in ``/World/envs/env_.*`` and enables collisions with the prims

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

Simulate the scene. Before simulate the scene, you need to call create_room_layout_scene(scene_save_dir) first to create the scene. Returns

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

Convert a 4x4 transform into position (meters) and Euler rotation (degrees, xyz order).

Create a 1D, 2D, or 3D convolution module.

Generate a scene with the provided number of cubes. Args: num_cubes: Number of cubes to generate. height: Height of the cubes.

Initialize the Anymal view.

Helper function to register dataset link in global dictionary. Also takes a @horizon parameter - this corresponds to the evaluation rollo

Perform data randomization based on the given operation and distribution. Args: data: The data tensor to be randomized. Shape is (dim_0,

Reshapes and arranges the data from the physics view to (num_instances, num_objects, data_size). Args: data: The data from the ph

Calculate the world coordinates of a door using unified fractional position system (0-1). Args: room: Room data containing posit

Load default configuration given its entry point from the gym registry. This function loads the configuration object from the gym registry for th

Outputs a nested dictionary.

Resets the specified environments and returns observations. This function calls the :meth:`_reset_idx` function to reset the specified enviro

the sampling is solving a math problem: the room is a rectangle, and we treat the whole room as a 2d rectangle space, divided by grid_res x g

Sample robot place locations for placing objects on a table. This function: 1. Samples valid place locations on the table surface (w

Set the seed for the environment. Args: seed: The seed for random generator. Defaults to -1. Returns: The se

Stop the running container using the Docker compose command. Raises: RuntimeError: If the container is not running.

Create a 2D visualization of the room layout with objects, doors, and windows. Args: save_path: Optional path to

Build a 4x4 homogeneous transform from an object's position and Euler rotation (degrees). Rotation order matches apply_object_transform: Z @

Creates an instance of a config from the algo name. Optionally pass a dictionary to instantiate the config from the dictionary.

Deserialize a space specification encoded as JSON. Args: string: Serialized JSON representation. Returns: Space specificatio

Calling this function on this config indicates that key updates should be allowed even when this config is key-locked (but not when

Evaluate the total weighted loss for all constraints.

Convert rotations given as quaternions to rotation matrices. Args: quaternions: The quaternion orientation in (w, x, y, z). Shape is (...

Computes the conjugate of a quaternion. Args: q: The quaternion orientation in (w, x, y, z). Shape is (..., 4). Returns: The

Serialize a space specification as JSON. Args: space: Space specification. Returns: Serialized JSON representation.

Returns environment type (int) for this kind of environment. This helps identify this env class.

Creates clones of the environment ``/World/envs/env_0``. Args: copy_from_source: (bool): If set to False, clones inherit from /Wo

Create a single room layout scene from a dictionary of mesh information.

A full pass through the VAE network used during training to construct KL and reconstruction losses. See @VAE class for more info.

Get the USD file of the room layout scene.

Process info dictionary from @train_on_batch to summarize information to pass to tensorboard for logging. Args:

Convert the multi-agent environment instance to a single-agent environment instance. The converted environment will be an instance of the single-

Rotate a vector by the inverse of a quaternion along the last dimension of q and v. Args: q: The quaternion in (w, x, y, z). Shape is (..

Set the value of an attribute on its USD schema if it exists. A USD API schema serves as an interface or API for authoring and extracting a set o

sample collision-free robot spawn positions Uses unified collision checking configuration for consistency with trajectory planning. no

r"""Create a :class:`PinholeCameraCfg` class instance from an intrinsic matrix. The intrinsic matrix is a 3x3 matrix that defines the mapping

Generate a scene with the provided number of cubes. Args: num_envs: Number of envs to generate. num_cubes: Number of cubes to gen

Returns the action term with the specified name. Args: name: The name of the action term. Returns: The actio

Returns whether the simulation has a GUI enabled. True if the simulation has a GUI enabled either locally or live-streamed.

Generate meshes for a rectangular border with a hole in the middle. .. code:: text +---------------------+ |####################

Set simulation settings using the Carbonite SDK. .. note:: If the input setting name does not exist, it will be created. If it do

Converts a string from snake case to camel case. Args: snake_str: A string in snake case (i.e. with '_') to: Convention to conver

Update transforms of all descendants of target_object_id according to: T_child_new = T_obj_new @ inv(T_obj_old) @ T_child_old

Validate that solution satisfies all hard constraints

Add a constraint to the system.

Checks if a file exists on the Nucleus Server or locally. Args: path: The path to the file. Returns: The status of the file.

Generate an image from a text prompt and return it as a PIL Image Args: prompt: Text description of the image to generate

Function to compute output shape from inputs to this module. Args: input_shape (iterable of int): shape of input. Does n

r"""Set the pose of the camera w.r.t. the world frame using specified convention. Since different fields use different conventions for camera

Step the simulation asynchronously.

Converts environment and object indices to indices consistent with data from :attr:`root_physx_view`. Args: env_ids: Environment