Remove the HTML element from the GUI.

Clear all debug visualizations.

Clear all term histories.

Clear all running-mean buffers and reset display.

Close viewer and cleanup.

Close the viewer and cleanup resources.

r"""Combine transformations between two reference frames into a stationary frame. It performs the following transformation operation: :math:`T_{0

The resolved command field (detected or explicit), not the raw config value. Set during ``edit_spec``. Use ``self.cfg.command_field`` to access t

Compute actuator torques using the learned MLP model. Args: cmd: High-level actuator command containing targets and current state. Ret

Returns [B, P] bool: True for primaries that took off within the last dt seconds.

Configure the origins of the environments based on the terrain.

Configure test environment settings automatically for all tests.

Create a network that returns constant value regardless of input.

r"""Converts a quaternion representing a rotation from one convention to another. In USD, the camera follows the ``"opengl"`` convention. Thus, i

Converts quaternion from one convention to another. The convention to convert TO is specified as an optional argument. If to == 'xyzw', then

Create entity from fixture file. Args: fixture_name: Name of the fixture file (without .xml extension). actuator_cfg: Optional actuator con

Create a fixed-base articulated entity (e.g., robot arm).

Create a simple fixed-base entity.

Let each command term create its GUI controls.

Create velocity joystick sliders in the Viser viewer.

Create motion scrubber controls in the Viser viewer.

Compute the rotation matrix from world to view coordinates. This function takes a vector ''eyes'' which specifies the location of the camera

Local indices of control inputs within the entity.

Current lag per environment. Shape: (batch_size,).

Per-batch count of valid frames. Shape: (batch_size,).

Custom property that uses config field.

Get the current sensor data, using cached value if available. This property returns the sensor's current data in its specific type. The data

Raycast data with per-frame terrain clearance heights.

Delegate debug visualization to class-based event terms.

Delegate debug visualization to class-based reward terms.

Visualize sensor data for debugging. Base implementation does nothing. Override in subclasses that support debug visualization. Args:

Default values for expanded model fields, used in domain randomization.

Returns identity rotation transform. Args: num: The number of rotations to sample. device: Device to create tensor on. Retur

Test device fixture.

Test device fixture.

Test device fixture.

Test device fixture.

Test device fixture.

Test device fixture.

Test device fixture.

Test device fixture.

Test device fixture.