Main function.

Main entry point - replays multiple variants in one run without restart.

Main entry point - replays multiple variants in one run without restart.

Main function to run the simulator.

Main function.

Main function to convert a URDF into USD format.

Download the configured table assets via the asset downloader script.

Download and arrange InteriorAgent assets for RoboVerse.

Build a native LIBERO-plus env directly from a BDDL file path. The perturbation (camera / lighting / texture / noise / layout) rides inside t

Create RoboVerse environment using make_vec.

Create RoboVerse environment using make_vec.

Create RoboVerse environment using make_vec.

Create RoboVerse task environment

Create RoboVerse task environment

Create RoboVerse task environment

Create RoboVerse task environment

The ManiSkill Panda as a RobotCfg with ManiSkill's exact drive gains + mount pose.

ManiSkill PandaStick (7-dof arm, fixed stick end-effector, NO gripper).

Slice grasp labels according to predicted views.

Load ``xml`` via dm_control (MetaSim's loader) and roll out controller-free. ``model_overrides`` re-applies compiled-model fields robosuite mutat

Reload an MJCF through the dm_control export pipeline, then roll out. Mirrors `MujocoHandler.launch()`'s "build the scene MJCF, export with a

Convert an MJCF XML file to a URDF XML file without using urdfpy.

Convert an MJCF XML file to a URDF XML file without using urdfpy.

Locate a local mjlab clone, or raise if none is present.

Move the robot to its default posture smoothly.

Move the robot to the target pose.

MuJoCo-specific LiDAR point cloud computation.

Reduce tensor at a dimension by named reduction functions. Args: x (torch.Tensor): tensor to be reduced reduction (str): one

Map f over all leaf of nested dict x

Map f over all values of nested dict x, and reduce to a single value

Select next joint

Select next joint

Select the next joint.

Z (yaw) Euler angle from the object quaternion, matching pytorch3d ``euler_angles XYZ``. For R = Rx(a)Ry(b)Rz(c): euler_z = atan2(-R[0,1], R[

Convert observation to state dictionary format for handler.set_states()

ManiSkill ``panda_stick.urdf`` (arm + fixed stick, no gripper) — vendored / HF / pkg.

ManiSkill ``panda_v2.urdf`` (vendored / HF / pkg).

ManiSkill ``panda_v3.urdf`` (panda_wristcam) — vendored / HF / pkg.