Build the native LIBERO-plus ``OffScreenRenderEnv`` for ``(suite, task_id)``. The canonical 1:1 construction path (identical to base LIBERO, the

Rotate ``v`` from world frame into body frame using the inverse of ``q``. Args: q: ``(..., 4)`` quaternion in **xyzw** order. v:

Convert scipy quaternion (x,y,z,w) to pytorch3d format (w,x,y,z).

Convert quaternion (w, x, y, z) to rotation matrix.

Step a raw mujoco model `n_steps` control updates by `decimation` substeps. Args: xml_path: path to MJCF. n_steps: number of cont

Register all 25 MetaSim-native SimplerEnv tasks under ``<prefix><task>`` (gym) and in MetaSim's task registry as ``simpler.<task>`` (discoverable/

Sample a fresh command for the given envs.

Sample a fresh target position for the given envs.

Reset selected envs (or all). ``seed`` is forwarded to the handler when supported, honoring the ``env.reset(seed=)`` contract (this b

Reset the runner state.

Resets specified environments to provided states. This function resets the environments to the provided states. The state is a dictionary

World position of the robot root link (links[0]).

Resolve a RoboTwin-internal ``relpath`` to a concrete filesystem path. Args: relpath: Path under the RoboTwin repo root, e.g.

RoboTwin checkout dir (``ROBOTWIN_DIR`` env var or the default).

Stitch two equal-length frame lists side-by-side and write an mp4. ``status`` (optional, per-frame bool) draws a green "TASK COMPLETE" / grey

Step with delta control.

Converts all numpy arrays in nested dictionary or list or tuple to torch tensors (and leaves existing torch Tensors as-is), and returns a

Compute torques at the current state and write actuator ctrl (per substep).

Per-agent init entry: base pose + home joints + the shared cube.

Draw a status banner across the bottom of a frame.

Map every class defined under tasks/ to its (immediate) base-class names.

Common logic to compute LiDAR points from pose information.

Copy ``src`` dir to ``dst`` (idempotent: skip files already present + same size).

Reconstruct ManiSkill ``set_state_dict`` input from a demo episode's first env_state.

List RoboTwin task names = ``envs/<name>.py`` files (no import needed). Pure filename scan — does not import RoboTwin, so it works even when

Download a single file from the roboverse_data HF dataset. ``remote_relpath`` is the path under the repo root (e.g. ``blender/material_lib_v2

Whether ``name`` is a robot known to the handler's TensorState path.

Static frictions of the panda finger-link collision shapes (raw or wrapped articulation).