Compute the position and orientation error between source and target frames. Args: t01: Position of source frame. Shape is (N, 3).

Lay plots in a strip on the right.

Copy material data from *src* to *dst*. Copies appearance settings (rgba, specular, shininess, ...) and texture bindings. The ``name`` field is N

Copy mesh geometry from *src* to *dst*. Copies vertex/face data, file path, scale, reference frame, and smoothing settings. The ``name`` field is

Copy texture data from *src* to *dst*. Copies the file path or builtin/data fields, format, dimensions, and color settings. The ``name`` field is

Create a new floating-point tensor with the magnitude of input and the sign of other, element-wise. Note: The implementation follows from

Add per-term debug visualization checkboxes.

Create a MuJoCo <muscle> actuator with muscle dynamics. Muscles use special activation dynamics and force-length-velocity curves. They can actuat

Disables collision for a geom.

Download file with progress bar.

Ensure default checkpoint is available and return its absolute path.

Ensure default motion file is available and return its absolute path.

Export policy to ONNX format using legacy export path. Overrides the base implementation to set dynamo=False, avoiding warnings about dynamic

Export a task scene or entity to a directory.

Write a spec's XML and referenced mesh assets to a directory. Creates ``scene.xml`` and an ``assets/`` subdirectory containing only the assets re

Post-graph: compute raycast hit positions.

Find all tyro.cli() calls and check if they have TYRO_FLAGS. Returns a list of (filepath, line_number, has_tyro_flags) tuples.

Per-foot vertical clearance above terrain. Returns: Tensor of shape [B, F] where F is the number of frames (feet).

Wrap an existing sensor already defined in entity XML.

Create from 3x3 intrinsic matrix [fx, 0, cx, 0, fy, cy, 0, 0, 1]. Args: intrinsic_matrix: Flattened 3x3 intrinsic matrix. width: Imag

Generate the HTML dashboard content.

Generate static HTML dashboard from evaluation data.

Generates a random rotation matrix using Euler angles. Args: rot_boundary: Range for random rotation angles around each axis (x, y, z).

Generates a random translation vector. Args: pos_boundary: Range for random translation values in 3D space. Returns: 3-eleme

Generate ray pattern. Args: mj_model: MuJoCo model (unused for grid pattern). device: Device for tensor operations. Returns:

Get path to model checkpoint in input directory. The checkpoint file is resolved as: `<log_path>/<run_dir>/<checkpoint>`. If `run_dir` and `chec

Get depth data for a camera. Args: cam_idx: MuJoCo camera ID. Returns: Tensor of shape [num_envs, height, width, 1] (float32).

Returns the free joint. None if no free joint exists.

Get current git commit SHA.

Gets the next state of the motion.

Get unpacked RGB data for a camera. Args: cam_idx: MuJoCo camera ID. Returns: Tensor of shape [num_envs, height, width, 3] (uint

Get per-pixel segmentation data for a camera. Args: cam_idx: MuJoCo camera ID. Returns: Tensor of shape [num_envs, height, width

Always raises KeyError since there are no terms.

Import all sub-packages in a package recursively. It is easier to use this function to import all sub-packages in a package recursively than to m

Interpolates between two rotation matrices. Args: R1: First rotation matrix. (4x4). R2: Second rotation matrix. (4x4). nu

Checks if the input string is a lambda expression. Args: name: The input string. Returns: Whether the input string is a lamb

Load previously evaluated results from cache.

Load and initialize all managers. Order is important! Event and command managers must be loaded first, then action and observation managers,

Load throughput benchmark data if available.

CLI entry point for viz-nan command.

Run demo with pretrained tracking policy.

Run throughput benchmarks on all configured tasks.

Create finite plane using box geometry. Uses box instead of MuJoCo plane to avoid infinite extent in terrain grids. Thickness prevents penetratio

Creates transformation matrices from positions and rotation matrices. Args: pos: Batch of position vectors with last dimension of 3.

Create base tracking task configuration.

Measure full environment step throughput in env steps per second.

Measure raw physics stepping in env steps per second. Runs num_steps worth of physics (i.e., num_steps * decimation sim.step calls) and reports t

Converts perspective depth image to orthogonal depth image. Perspective depth images contain distances measured from the camera's optical center.

Computes the inverse of transformation matrices. The inverse of a pose matrix [R t; 0 1] is [R.T -R.T*t; 0 1]. Args: pose: Batch of

POST-GRAPH: Convert Warp outputs to PyTorch, compute hit positions.

The sensor name as it appears in the MuJoCo model.

Pre-graph: transform rays to world frame.

PRE-GRAPH: Transform local rays to world frame. Reads body/site/geom poses via PyTorch and writes world-frame ray origins and directions into

Classify actuators into builtin groups and custom actuators. Non-delayed builtins go into direct index groups. Delayed builtins with matching

The box-minus operator (quaternion difference) between two quaternions. Args: q1: The first quaternion in (w, x, y, z). Shape is (N, 4).

Convert a unit quaternion to a standard form where the real part is non-negative. Quaternion representations have a singularity since ``q`` and `

Randomize the environment origins to random sub-terrains.

IN-GRAPH: Execute BVH-accelerated raycast kernel.