Robust frame counting for imageio Reader.

A live-collection bridge if a RoboTwin clone is present, else the vendored slim one (so this example runs after ~/projects/robotwin is deleted).

The demo's single robot articulation key (``panda`` / ``panda_wristcam`` / …).

Current episode lengths of each env. Used in time-out computation.

Expose optional sensor queries to the simulator handler.

Declare extra observations needed by SlideReward.

Declare extra observations needed by StairReward.

Declare extra observations needed by SitReward.

Expose optional sensor queries to the simulator handler.

Register extra queries for collision detection and gripper state.

Register extra queries for gripper states.

Pendant g1: free to wave arms + bend knees in a 'jumping jack' loop.

Return EE state using site queries.

Return EE state using site queries. Returns: ee_pos_world: (B, 3) gripper position from site ee_mat_world: (B, 9) gri

Traverse task/robot/episode nested layout and collect episode dirs.

Return list of per-env initial states derived from config.

Return per-env initial states sampled from the demo trajectory. Returns None when the trajectory is missing or empty, letting the han

Give the inital states from traj file.

Per-env initial states built from the scenario defaults (robots + objects).

Both arms at home plus the shared cube, replicated per env.

Give the inital states from traj file.

Define initial states manually without trajectory file.

Get initial states from trajectory file or return None for manual definition. If traj_filepath is None, subclasses should override this metho

Define initial states manually without trajectory file.

Return per-env initial states sampled from the demo trajectory. Returns None when the trajectory is missing or empty, letting the

Get initial states for all environments.

Get initial states for all environments.

Get initial states for all environments.

Get initial states for all environments.

Load initial states from pkl file.

Load initial states from pkl file.

Get initial states for all environments.

Get initial states for all environments.

Get initial states for all environments.

Get initial states for all environments. Uses saved poses from object_layout.py. Loads banana, table, basket, and trajectory markers

Get initial states for pour water task.

Get initial states for all environments.

Load initial states from pkl file with spoon-specific enhancements.

Load initial states from pkl file.

Get initial states for all environments. Uses saved poses from object_layout.py. Loads screwdriver, table, basket, and trajectory markers

Get initial states for all environments.

Get initial states for all environments. Uses saved poses from saved_poses_20251212_spoon.py. Loads spoon, table, basket, and trajectory mark

Get initial states for all environments. Uses saved poses from saved_poses_20251212_spoon2.py. Loads spoon, table, basket, and trajectory mar

Load initial states from pkl file.

Perturb trunk COM offset to model uneven robot mass distribution.

Mjlab Go1 foot friction DR (mjlab/tasks/velocity/velocity_env_cfg.py:238). ``foot_friction``: tangential μ uniform in [0.3, 1.2], shared across a

Pendant go1: 1 Hz diagonal-pair trot. Welded base, so legs free to swing.

Render a qpos sequence using MetaSim's handler-loaded model (not raw mujoco).

For freefall demos: just hold the keyframe target. The robot's gravity- driven fall is the point.

Dataset metadata (features).