True iff every BDDL goal predicate holds in the current MuJoCo state.

Resolve an mjlab MJCF (and its meshes) to a concrete local path. Args: relpath: mjlab-internal path under ``src/mjlab/``, e.g.

Convert intrinsic XYZ Euler angles (radians) to quaternion (w, x, y, z).

Run rendering without stepping through the physics. By convention, if mode is: - **human**: Render to the current display and return

Flow matcher wrapper for torchcfm.

Get position of the palm center using fingertip offsets. The hand position is approximated as the midpoint between the thumb tip and

Build a LiberoBaseTask bound to minimum needed attrs without running its __init__ (which hits the HF downloader).

Pull the current ``(N, 3)`` velocity command from env.command_managers.

Return the ordered list of term-attribute names on a ``@configclass`` group. Using ``dataclasses.fields()`` instead of ``asdict()`` preserves

Return the ordered shell commands for the selected stages. Pure (no side effects) so it is unit-testable; :func:`main` runs them.

Return ``(N, J*2)`` concatenated joint_pos+joint_vel reference at the current frame. Empty if identity-tracking mode.

Joint positions for the entity, batched. Shape ``(num_envs, len(joint_ids))``. Reads ``env_states.robots[cfg.name].joint_pos[:, ids]`` when the

Returns (entity_name, entity_type)

Returns (entity_name, entity_type)

Return a tuple of the selected entity name and entity type.

Return cached LongTensor of joint indices for ``cfg``. Resolves against ``handler.get_joint_names(name, sort=True)`` when the named entity is

Set the joint drive property according to the config.

Set simulator state for selected env indexes.

Convert MISSING sentinel to an empty dict for callback containers.

Random yaw-only quaternion (wxyz), matching ManiSkill random_quaternions(lock_x, lock_y).

Add geometry to the MJCF body from the URDF link.

Compute angle (radian) between two vectors.

Apply function @func to torch.Tensor objects in a nested dictionary or list or tuple. Args: x (dict or list or tuple): a possibl

World-frame body com position via ``physics.data.xpos``.

Return ``*.weight`` keys of Linear layers, in declaration order. A key ``k.weight`` is treated as a Linear layer iff its tensor is 2-D and a

Convert torch tensors to CPU numpy, else asarray.

Add elements to the buffer.

Set the high-friction grasp material on a loaded panda articulation's finger links. Mirrors ManiSkill's ``Panda.urdf_config`` gripper material (`

Attach to the simulator handler and initialize randomization buffers.

Build a native MetaSim scenario for a benchmark task and robot.

Compute the motion command.

Move state dict to CPU.

Get the indexes of the bodies matching the body names.

Fetch current joint order mapping from handler (robots + articulated objs).

Return current observations as TensorDict.

Move the robot to a given pose.

Whether the NEXT predict() call will actually consume the observation. Lets the eval loop skip the (expensive, RT-rendered) ``get_obs()`` on

Processes a chunk of actions into joint positions.

Rebase a bundle's embedded MJCF onto portable local asset roots + dm_control-safe. Both the LIBERO (``chiliocosm/assets``) and robosuite (``model

Sample a fresh motion start frame for the given envs.

Locate the vendored ``roboverse_data/libero/assets`` tree (clone or HF cache). The native LIBERO meshes/textures are vendored (deduplicated) to t

Send a low-level command to the robot.

Toggle an actor's collision (groups). Parked inactive candidate objects get collision OFF so they don't perturb the active object's contact solve