Converts raw SpaceMouse readings to commands. Args: b1: 8-bit byte b2: 8-bit byte Returns: Scaled value from Space-m

Converts a given array into a torch tensor. The function tries to convert the array to a torch tensor. If the array is a numpy/warp arrays, or py

Samples actions from the policy distribution. Args: obs_dict (dict): batch of observations goal_dict (dict):

Reshapes and arranges the data to the be consistent with data from the :attr:`root_physx_view`. Args: data: The data to be reshap

Sample a Gymnasium space where the data container are PyTorch tensors. Args: space: Gymnasium space. device: The device where the

r"""Wraps input angles (in radians) to the range :math:`[-\pi, \pi]`. This function wraps angles in radians to the range :math:`[-\pi, \pi]`, suc

Args: obs_shapes (OrderedDict): a dictionary that maps modality to expected shapes for observations.

Format text content for HTML display with proper line breaks and spacing.

Return True if candidate is a descendant of target_object_id via place_id chain.

Applies the actions to the environment/simulation. Note: This should be called at every simulation step.

vertices: (N, 3) faces: (F, 3) vts: (N, 2) fts: (F, 2) texture_map: (H, W, 3), values in [0, 1]

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Convert an object into dictionary recursively. Note: Ignores all names starting with "__" (i.e. built-in methods). Args: obj

Converts quaternion from one convention to another. The convention to convert TO is specified as an optional argument. If to == 'xyzw', then

Create a unified occupancy grid that will be consistent across all functions. Args: scene_save_dir: Directory containing the sce

Generate texture coordinates for a wall mesh using xatlas. Args: wall_mesh: Trimesh object representing the wall Re

Calculate the closest distance between the surfaces of two oriented bounding boxes. Returns: torch.tensor: Distance between OBBs

Create door and door frame USD objects with a revolute joint between them. Args: stage: USD stage usd_internal_path_door

Get the next action from the dataset.

Whether the asset is initialized. Returns True if the asset is initialized, False otherwise.

Args: value (torch.Tensor): some tensor to compute log probabilities for pre_tanh_value: If specified, will not calcu

Make a standard normalization layer. :param channels: number of input channels. :return: an nn.Module for normalization.

Apply a quaternion rotation to a vector. Args: quat: The quaternion in (w, x, y, z). Shape is (..., 4). vec: The vector in (x, y,

This contextmanager will redirect stdout so that nothing is printed to the terminal. Taken from the link below: https://stackoverflow.co

Convert numpy array or list to torch tensor.

Set the object state over selected environment and object indices into the simulation. The object state comprises of the cartesian position,

Raise an error if the dataset file handler is not initialized.

Fills the sensor data for the outdated sensors.

Add parameter to the hyperparameter sweep. Args: key (str): location of parameter in the config, using hierarchical key

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

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

Check if two doors on opposite sides of a shared wall align properly. Args: door1_pos: World position of first door door

Generates json configs for the hyperparameter sweep using attributes @self.parameters, @self.base_config_file, and @self.script_file,

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

Args: fov: float, the field of view in degrees H: int, the height of the image W: int, the width of the image nea

Lock the config. Afterwards, new keys cannot be added to the config, and the values of existing keys cannot be modified.

It will place all objects belonging to the descandant of the parent_object without changing the original pose of the parent_object. and f

Calculate the angle between two quaternions. Parameters: q1, q2: Lists or arrays of shape [w, x, y, z] representing quaternions Ret

Reset to a specific simulator state. Args: state (dict): current simulator state that contains: - states

Reshapes and arranges the data coming from the :attr:`root_physx_view` to (num_instances, num_objects, data_size). Args: data: Th

Set external force and torque to apply on the asset's bodies in their local frame. For many applications, we want to keep the applied externa

Step the simulation without an action. Used for resets.

Unlock the config. Afterwards, new keys can be added to the config, and the values of existing keys can be modified.

Reads a dictionary and sets object variables recursively. This function performs in-place update of the class member attributes. Args:

Args: vis: meshcat visualizer object name: str pc: Nx3 or HxWx3 color: (optional) same shape as pc[0 - 255] scale

Writes the data of the scene entities to the simulation.

Set the nodal state over selected environment indices into the simulation. The nodal state comprises of the nodal positions and velocities. S

Helper function to escape HTML characters

Run through different resolutions for tiled rendering

Parse the joint parameter from the configuration. Args: cfg_value: The parameter value from the configuration. If None, then use

Check if two rectangles are in contact

Check if two rectangles overlap

Validate solution with detailed error reporting

Checks if the attribute with the name 'class_name' can be visualized. If yes, create vis interface. Args: title: The title of the

Uses registry to retrieve algo factory function from algo name. Args: algo_name (str): the algorithm name

Use the unified collision checking for consistency with sampling functions.

Use the unified collision checking for consistency with sampling functions.

Use the unified collision checking for consistency with sampling functions.

Use the unified collision checking for consistency with sampling functions.

Use the unified collision checking for consistency with sampling functions.