------------------------- Tell the render thread to load a file and wait -------------------------

update profiler figures

update sensor figure

update UI 0 when MuJoCo structures change (except for joint sliders)

Override destroy_node to clean up threads

return the path to the directory containing the current executable used to determine the location of auto-loaded plugin libraries

Return the current observations. Returns: Tuple containing the observations and extras.

Convert 6D rotation representation to 3x3 rotation matrix. Reference: Zhou et al., "On the Continuity of Rotation Representations in Neural

Splits trajectories at done indices. Then concatenates them and pads with zeros up to the length og the longest trajectory. Returns masks correspo

Get rotation from transform

Get rotation from transform

add state to history buffer

align and scale view

make control section of UI

make joint section of UI

render the ui to the window

Builds target and predictor networks

Compute angular velocity from rotations

Compute mean and std efficiently

Compute velocity from positions (differentiable torch version). Args: p: Tensor of shape [..., T, N, M] (T is time/sequen

Convert motion dictionary to complete MotionBlock message instance and cache it

Extract a single primitive from motion data

Apply 1-2-1 kernel smoothing along the time dimension (last-3rd axis).

Generate a batch using motion-first approach

Return an activation function given a string

Linear interpolation between two tensors.

Linear interpolation between two tensors.

A fast approximation of the cumulative distribution function of the standard normal.

计算几何损失

计算几何损失

计算几何损失

统一的history选择函数 Args: gt_history: 来自数据集的真实历史 [B, H, D] prev_motion: 前一个primitive的预测结果 [B, T, D] hi

Compute what the p_mean_variance output would have been, should the model's score function be conditioned by cond_fn. See co

Compute what the p_mean_variance output would have been, should the model's score function be conditioned by cond_fn. See co

If comm is provided, average all numerical stats across that comm

Convert DOF to axis-angle

v: shape [T, 23] return: shape [T, 29]

v: shape [T, 23] return: shape [T, 29]

v: shape [T, 23] return: shape [T, 29]

从旋转矩阵中精确提取Yaw角度 使用欧拉角分解：ZYX顺序（Yaw-Pitch-Roll）

Compute forward kinematics with full compatibility to original interface. Args: pose: Joint angles in axis-angle

Get base angular velocity Pay special attention: - The angular velocity sim_data.qvel[3:6] is in the body frame, not the world frame.

Get base linear velocity

Get command (joint_pos + joint_vel) for future steps - matching Isaac Lab order

Get relative joint positions

Get relative joint velocities

Get last actions