Create a body element with joint and geometry

Create a capsule geometry connecting parent to child joint

Create a default config in memory (without saving to file). Args: robot_name: Robot name (e.g., "DumBot13-21dof") gen

Instantiate DearPyGui widgets and enter its main loop.

Add three aligned sliders (x, y, z).

* Auto-adjust camera position to fit model size * View angle: oblique from side-back (looking at model from side-back)

Play motion_data once and get position, orientation and velocity data for specified bodies Args: body_names (list): List

Get human body tree from a motion file. Args: generator_type: Either "smpl" or "bvh" file_path: Path to motion file. Used to dete

Get robot body tree from MJCFHumanoidGenerator. Args: robot_name: Name of the robot Returns: Dict with robot body tree or er

* Check if player animation is currently running

Recursively check all npz files in the given folder. If 'mocap_framerate' is missing, fill it with the provided value. If neither the npz fil

Scan a root BVH folder and print per-folder skeleton structure summary.

Recursively check all npz files in the given folder. If 'mocap_framerate' is missing, fill it with the provided value. If neither the npz fil

Play periodic robot motion based on YAML configuration. This script generates and plays sinusoidal motion patterns for robot joints

CLI wrapper - sets up *Aligner*, starts sim thread, launches GUI.

Batch process motion files in the specified folder using Retargeter, convert to .npy format and save in a separate target folder with preserv

* Pause player motion animation

Process a single folder and its subfolders recursively.

Check and fix a single npz file. If 'mocap_framerate' is missing, fill it with the provided value. If neither the npz file nor the argument p

* Fallback 2D rendering when mujoco is not available

Run IK and yield frame data incrementally for streaming.

* Set callback for frame changes (called on every frame update during playback)

* Set pre-computed player motion data for animation playback * @param autostart if true, immediately starts the animation loop (default: true)

Apply user-defined base Euler rotation to the human root.

Set base XY translation and Z height alignment based on feet positions.

* Start continuous render loop (borrowed from urdf-loaders implementation)

Sync GUI widgets to match values from retarget_config.

Synchronize the GUI with the contents of retarget_config.tracker_dict

* Update environment (adjust ground position and shadows, update camera focus) * @param fitCamera - Whether to auto-adjust camera view

* Update streaming frames (for retarget-stream mode) * Incrementally adds new frames without rebuilding the entire array