Full Code of HorizonRobotics/HoloMotion for AI

gitextract_3fyqn965/

├── .gitattributes
├── .githooks/
│   ├── README.md
│   └── pre-commit
├── .gitignore
├── .gitlab-ci.yml
├── .gitmodules
├── LICENSE
├── Makefile
├── NOTICE
├── README.md
├── assets/
│   ├── robots/
│   │   └── unitree/
│   │       └── G1/
│   │           └── 29dof/
│   │               ├── g1_29dof.xml
│   │               ├── g1_29dof_rev_1_0.urdf
│   │               ├── g1_29dof_rev_1_0.xml
│   │               ├── g1_29dof_rev_1_0_s100.urdf
│   │               └── scene_29dof.xml
│   └── test_data/
│       └── motion_retargeting/
│           └── ACCAD/
│               └── Male1Walking_c3d/
│                   └── Walk_B10_-_Walk_turn_left_45_stageii.npz
├── deploy.env
├── deployment/
│   ├── deploy_environment.sh
│   ├── holomotion_teleop/
│   │   ├── holomotion_teleop_node.py
│   │   ├── holomotion_teleop_setup.md
│   │   └── setup_holomotion_teleop_x86_ubuntu2204.sh
│   └── unitree_g1_ros2_29dof/
│       ├── launch_holomotion_29dof.sh
│       ├── launch_holomotion_29dof_docker.sh
│       ├── src/
│       │   ├── CMakeLists.txt
│       │   ├── config/
│       │   │   └── g1_29dof_holomotion.yaml
│       │   ├── humanoid_policy/
│       │   │   ├── __init__.py
│       │   │   ├── holomotion_fk_root_only.py
│       │   │   ├── obs_builder/
│       │   │   │   ├── __init__.py
│       │   │   │   └── obs_builder.py
│       │   │   ├── policy_node_29dof.py
│       │   │   └── utils/
│       │   │       ├── __init__.py
│       │   │       ├── command_helper.py
│       │   │       ├── maths.py
│       │   │       ├── motor_crc.py
│       │   │       ├── remote_controller_filter.py
│       │   │       ├── rotation_helper.py
│       │   │       └── rotations.py
│       │   ├── include/
│       │   │   └── common/
│       │   │       ├── motor_crc.h
│       │   │       ├── motor_crc_hg.h
│       │   │       ├── ros2_sport_client.h
│       │   │       └── wireless_controller.h
│       │   ├── launch/
│       │   │   └── holomotion_29dof_launch.py
│       │   ├── models/
│       │   │   └── .gitkeep
│       │   ├── motion_data/
│       │   │   └── .gitkeep
│       │   ├── package.xml
│       │   ├── resource/
│       │   │   └── humanoid_control
│       │   ├── setup.cfg
│       │   ├── setup.py
│       │   └── src/
│       │       ├── common/
│       │       │   ├── motor_crc.cpp
│       │       │   ├── motor_crc_hg.cpp
│       │       │   ├── ros2_sport_client.cpp
│       │       │   └── wireless_controller.cpp
│       │       └── main_node.cpp
│       └── start_container.sh
├── docs/
│   ├── environment_setup.md
│   ├── evaluate_motion_tracking.md
│   ├── holomotion_motion_file_spec.md
│   ├── motion_retargeting.md
│   ├── mujoco_sim2sim.md
│   ├── realworld_deployment.md
│   ├── smpl_data_curation.md
│   └── train_motion_tracking.md
├── environments/
│   ├── environment_deploy.yaml
│   ├── environment_train_isaaclab_cu118.yaml
│   ├── environment_train_isaaclab_cu128.yaml
│   ├── requirements_base.txt
│   ├── requirements_deploy.txt
│   ├── requirements_torch_cu118.txt
│   ├── requirements_torch_cu128.txt
│   └── requirements_torch_cu130.txt
├── holomotion/
│   ├── config/
│   │   ├── algo/
│   │   │   ├── ppo.yaml
│   │   │   └── ppo_tf.yaml
│   │   ├── data_curation/
│   │   │   ├── joints2smpl.yaml
│   │   │   └── smplify_base.yaml
│   │   ├── env/
│   │   │   ├── domain_randomization/
│   │   │   │   ├── NO_domain_rand.yaml
│   │   │   │   ├── domain_rand_medium.yaml
│   │   │   │   ├── domain_rand_small.yaml
│   │   │   │   └── domain_rand_strong.yaml
│   │   │   ├── motion_tracking.yaml
│   │   │   ├── observations/
│   │   │   │   ├── motion_tracking/
│   │   │   │   │   ├── obs_motion_tracking_mlp.yaml
│   │   │   │   │   └── obs_motion_tracking_tf-moe.yaml
│   │   │   │   └── velocity_tracking/
│   │   │   │       └── obs_velocity_tracking.yaml
│   │   │   ├── rewards/
│   │   │   │   ├── motion_tracking/
│   │   │   │   │   └── rew_motion_tracking.yaml
│   │   │   │   └── velocity_tracking/
│   │   │   │       └── rew_velocity_tracking.yaml
│   │   │   ├── terminations/
│   │   │   │   ├── NO_termination.yaml
│   │   │   │   ├── termination_motion_tracking.yaml
│   │   │   │   └── termination_velocity_tracking.yaml
│   │   │   ├── terrain/
│   │   │   │   ├── isaaclab_plane.yaml
│   │   │   │   └── isaaclab_rough.yaml
│   │   │   └── velocity_tracking.yaml
│   │   ├── evaluation/
│   │   │   ├── eval_isaaclab.yaml
│   │   │   ├── eval_mujoco_sim2sim.yaml
│   │   │   └── eval_velocity_tracking.yaml
│   │   ├── modules/
│   │   │   ├── motion_tracking/
│   │   │   │   ├── motion_tracking_mlp.yaml
│   │   │   │   └── motion_tracking_tf-moe.yaml
│   │   │   └── velocity_tracking/
│   │   │       └── velocity_tracking_mlp.yaml
│   │   ├── motion_retargeting/
│   │   │   ├── gmr_to_holomotion.yaml
│   │   │   ├── holomotion_preprocess.yaml
│   │   │   ├── kinematic_filter.yaml
│   │   │   ├── pack_hdf5_database.yaml
│   │   │   ├── pack_hdf5_v2.yaml
│   │   │   └── unitree_G1_29dof_retargeting.yaml
│   │   ├── mujoco_eval/
│   │   │   └── sim2sim.yaml
│   │   ├── robot/
│   │   │   └── unitree/
│   │   │       └── G1/
│   │   │           └── 29dof/
│   │   │               ├── 29dof_training_isaaclab.yaml
│   │   │               └── 29dof_training_isaaclab_s100.yaml
│   │   └── training/
│   │       ├── motion_tracking/
│   │       │   ├── train_g1_29dof_motion_tracking_mlp.yaml
│   │       │   └── train_g1_29dof_motion_tracking_tf-moe.yaml
│   │       ├── train_base.yaml
│   │       └── velocity_tracking/
│   │           └── train_g1_29dof_velocity_tracking_mlp.yaml
│   ├── scripts/
│   │   ├── data_curation/
│   │   │   ├── convert_to_amass.sh
│   │   │   ├── filter_smpl_data.sh
│   │   │   ├── video_to_smpl_gvhmr.sh
│   │   │   └── visualize_smpl_npz.sh
│   │   ├── evaluation/
│   │   │   ├── calc_offline_eval_metrics.sh
│   │   │   ├── eval_motion_tracking.sh
│   │   │   ├── eval_mujoco_sim2sim.sh
│   │   │   ├── eval_velocity_tracking.sh
│   │   │   ├── mean_process_5metrics.py
│   │   │   └── multi_model_metrics_analysis.sh
│   │   ├── motion_retargeting/
│   │   │   ├── apply_gmr_motion_retarget_patch.sh
│   │   │   ├── pack_hdf5_v2.sh
│   │   │   ├── run_holomotion_preprocessing.sh
│   │   │   ├── run_kinematic_filter.sh
│   │   │   ├── run_motion_retargeting_gmr_bvh.sh
│   │   │   ├── run_motion_retargeting_gmr_smplx.sh
│   │   │   ├── run_motion_retargeting_gmr_to_holomotion.sh
│   │   │   └── run_motion_viz_mujoco.sh
│   │   └── training/
│   │       ├── train_motion_tracking.sh
│   │       └── train_velocity_tracking.sh
│   ├── src/
│   │   ├── algo/
│   │   │   ├── __init__.py
│   │   │   ├── algo_base.py
│   │   │   ├── algo_utils.py
│   │   │   ├── ppo.py
│   │   │   └── ppo_tf.py
│   │   ├── data_curation/
│   │   │   ├── .gitignore
│   │   │   ├── __init__.py
│   │   │   ├── data_smplify.py
│   │   │   ├── filter/
│   │   │   │   ├── filter.py
│   │   │   │   └── label_data.py
│   │   │   ├── smpl_npz_to_html.py
│   │   │   ├── smplify/
│   │   │   │   ├── __init__.py
│   │   │   │   ├── smplify_humanact12.py
│   │   │   │   ├── smplify_motionx.py
│   │   │   │   ├── smplify_omomo.py
│   │   │   │   └── smplify_zjumocap.py
│   │   │   ├── templates/
│   │   │   │   └── index_wooden_static.html
│   │   │   ├── video_to_smpl_gvhmr.py
│   │   │   ├── vison_mocap/
│   │   │   │   └── joints2smpl.py
│   │   │   └── visualize_smpl_npz.py
│   │   ├── env/
│   │   │   ├── __init__.py
│   │   │   ├── isaaclab_components/
│   │   │   │   ├── __init__.py
│   │   │   │   ├── isaaclab_actions.py
│   │   │   │   ├── isaaclab_curriculum.py
│   │   │   │   ├── isaaclab_domain_rand.py
│   │   │   │   ├── isaaclab_motion_tracking_command.py
│   │   │   │   ├── isaaclab_observation.py
│   │   │   │   ├── isaaclab_rewards.py
│   │   │   │   ├── isaaclab_scene.py
│   │   │   │   ├── isaaclab_simulator.py
│   │   │   │   ├── isaaclab_termination.py
│   │   │   │   ├── isaaclab_terrain.py
│   │   │   │   ├── isaaclab_utils.py
│   │   │   │   ├── isaaclab_velocity_tracking_command.py
│   │   │   │   └── unitree_actuators.py
│   │   │   ├── motion_tracking.py
│   │   │   └── velocity_tracking.py
│   │   ├── evaluation/
│   │   │   ├── __init__.py
│   │   │   ├── eval_motion_tracking.py
│   │   │   ├── eval_motion_tracking_single.py
│   │   │   ├── eval_mujoco_sim2sim.py
│   │   │   ├── eval_velocity_tracking.py
│   │   │   ├── find_worst_clips.py
│   │   │   ├── metrics.py
│   │   │   ├── multi_model_metrics_report.py
│   │   │   ├── obs/
│   │   │   │   ├── __init__.py
│   │   │   │   └── obs_builder.py
│   │   │   ├── ray_evaluator_actor.py
│   │   │   └── ray_metrics_postprocess.py
│   │   ├── modules/
│   │   │   ├── __init__.py
│   │   │   ├── agent_modules.py
│   │   │   └── network_modules.py
│   │   ├── motion_retargeting/
│   │   │   ├── __init__.py
│   │   │   ├── gmr_to_holomotion.py
│   │   │   ├── holomotion_fk.py
│   │   │   ├── holomotion_preprocess.py
│   │   │   ├── kinematic_filter.py
│   │   │   ├── pack_hdf5_v2.py
│   │   │   ├── reference_filtering.py
│   │   │   └── utils/
│   │   │       ├── __init__.py
│   │   │       ├── _schema.json
│   │   │       ├── rotation_conversions.py
│   │   │       ├── torch_humanoid_batch.py
│   │   │       └── visualize_with_mujoco.py
│   │   ├── training/
│   │   │   ├── __init__.py
│   │   │   ├── h5_dataloader.py
│   │   │   ├── reference_filter_export.py
│   │   │   └── train.py
│   │   └── utils/
│   │       ├── __init__.py
│   │       ├── config.py
│   │       ├── frame_utils.py
│   │       ├── isaac_utils/
│   │       │   ├── __init__.py
│   │       │   ├── maths.py
│   │       │   ├── rotations.py
│   │       │   └── setup.py
│   │       ├── onnx_export.py
│   │       ├── reference_prefix.py
│   │       ├── torch_utils.py
│   │       └── unitree_g1_actuator_calculator.py
│   └── tests/
│       └── __init__.py
├── pyproject.toml
├── tests/
│   ├── benchmark_legacy_onnx_attention.py
│   ├── benchmark_moe_router_export.py
│   ├── test_actor_export_config.py
│   ├── test_algo_base_iteration_logging.py
│   ├── test_build_quantization_dataset.py
│   ├── test_cache_curriculum_sampler.py
│   ├── test_domain_rand_config_builder.py
│   ├── test_eval_mujoco_action_delay.py
│   ├── test_eval_mujoco_action_ema.py
│   ├── test_eval_mujoco_contact_export.py
│   ├── test_eval_mujoco_s100_horizon_ptq.py
│   ├── test_eval_mujoco_use_gpu.py
│   ├── test_eval_onnx_io_dump.py
│   ├── test_evaluation_metrics.py
│   ├── test_isaaclab_termination.py
│   ├── test_mean_process_5metrics.py
│   ├── test_motion_cache_gather_state.py
│   ├── test_motion_cache_startup.py
│   ├── test_motion_tracking_command_reference_prefix.py
│   ├── test_motion_tracking_timing.py
│   ├── test_mujoco_filtered_ref_compat.py
│   ├── test_obs_norm_compile.py
│   ├── test_observation_frames.py
│   ├── test_onnx_attention_export.py
│   ├── test_onnx_export.py
│   ├── test_plot_moe_expert_heatmap.py
│   ├── test_plot_state_series.py
│   ├── test_ppo_checkpoint_sigma_override.py
│   ├── test_ppo_entropy_annealing.py
│   ├── test_ppo_symmetry_loss.py
│   ├── test_ppo_tf_aux_keybody.py
│   ├── test_ref_router_actor.py
│   ├── test_ref_router_seq_actor.py
│   ├── test_reference_filter_export.py
│   ├── test_reference_motion_config_wiring.py
│   ├── test_root_rel_rewards.py
│   ├── test_unitree_actuators.py
│   └── test_visualize_with_mujoco.py
└── train.env

SYMBOL INDEX (2254 symbols across 119 files)

FILE: deployment/holomotion_teleop/holomotion_teleop_node.py
  function _sqrt_positive_part (line 95) | def _sqrt_positive_part(x: torch.Tensor) -> torch.Tensor:
  function matrix_to_quaternion (line 102) | def matrix_to_quaternion(matrix: torch.Tensor) -> torch.Tensor:
  function axis_angle_to_matrix (line 144) | def axis_angle_to_matrix(axis_angle: torch.Tensor) -> torch.Tensor:
  class Humanoid_Batch_V2 (line 181) | class Humanoid_Batch_V2:
    method __init__ (line 187) | def __init__(self, device: torch.device = torch.device("cpu")):
    method _relative_link_position (line 197) | def _relative_link_position(joints_world: torch.Tensor, root_pos: torc...
    method _relative_link_pose (line 200) | def _relative_link_pose(self, full_pose_aa: torch.Tensor) -> torch.Ten...
    method step_per_frame (line 216) | def step_per_frame(
  class PicoToSmplConfig (line 237) | class PicoToSmplConfig:
  function body_poses_to_smpl_pose_trans (line 245) | def body_poses_to_smpl_pose_trans(
  function _mirror_matrix (line 287) | def _mirror_matrix(mirror_axis: str) -> np.ndarray:
  function safe_normalize_quat_wxyz (line 297) | def safe_normalize_quat_wxyz(q: np.ndarray, eps: float = 1e-8) -> np.nda...
  function mirror_pos_and_quat_wxyz (line 305) | def mirror_pos_and_quat_wxyz(pos: np.ndarray, quat_wxyz: np.ndarray, mir...
  function mirror_and_swap_gmr_input (line 319) | def mirror_and_swap_gmr_input(gmr_input: Dict[str, Any], mirror_axis: st...
  function pack_numpy_message (line 331) | def pack_numpy_message(payload: dict, topic: bytes = OUT_TOPIC, version:...
  class PicoReader (line 370) | class PicoReader:
    method __init__ (line 371) | def __init__(self):
    method start (line 379) | def start(self):
    method stop (line 382) | def stop(self):
    method get_latest (line 386) | def get_latest(self):
    method _run (line 390) | def _run(self):
  class ZmqObsSender (line 439) | class ZmqObsSender:
    method __init__ (line 440) | def __init__(self, uri: str, logger, topic: bytes = OUT_TOPIC, mode: s...
    method send (line 461) | def send(self, latest_obs: np.ndarray, frame_index: int, sample_meta: ...
    method stop (line 487) | def stop(self):
  class VRNodeXRTPicoGMRZmqOut (line 493) | class VRNodeXRTPicoGMRZmqOut:
    method __init__ (line 494) | def __init__(
    method info (line 531) | def info(self, msg): print(f"[INFO] {msg}")
    method error (line 532) | def error(self, msg): print(f"[ERROR] {msg}")
    method warning (line 533) | def warning(self, msg): print(f"[WARN] {msg}")
    method debug (line 534) | def debug(self, msg): print(f"[DEBUG] {msg}")
    method _accumulate_timing (line 536) | def _accumulate_timing(self, name: str, start_time: float) -> float:
    method _maybe_log_timing (line 541) | def _maybe_log_timing(self):
    method process_smpl_pose_trans_to_gmr_input (line 553) | def process_smpl_pose_trans_to_gmr_input(self, smpl_pose_aa, smpl_tran...
    method process_xrt_frame_to_gmr_input (line 608) | def process_xrt_frame_to_gmr_input(self, sample: dict):
    method process_gmr_output (line 626) | def process_gmr_output(self):
    method publish_data (line 654) | def publish_data(self, motion_state: np.ndarray):
    method save_observations (line 662) | def save_observations(self):
    method start_loop (line 684) | def start_loop(self, hz=50):
    method _tick (line 701) | def _tick(self):
    method stop (line 725) | def stop(self):
  function init_xrt (line 736) | def init_xrt(start_service: bool = True):
  function main (line 748) | def main():

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/holomotion_fk_root_only.py
  function _xyzw_to_wxyz (line 28) | def _xyzw_to_wxyz(q: np.ndarray) -> np.ndarray:
  function _wxyz_to_xyzw (line 32) | def _wxyz_to_xyzw(q: np.ndarray) -> np.ndarray:
  function _quat_conjugate_wxyz (line 36) | def _quat_conjugate_wxyz(q: np.ndarray) -> np.ndarray:
  function _quat_mul_wxyz (line 42) | def _quat_mul_wxyz(q1: np.ndarray, q2: np.ndarray) -> np.ndarray:
  function _standardize_quaternion_wxyz (line 62) | def _standardize_quaternion_wxyz(q: np.ndarray) -> np.ndarray:
  function _axis_angle_from_wxyz (line 66) | def _axis_angle_from_wxyz(q: np.ndarray) -> np.ndarray:
  function _grad_t (line 84) | def _grad_t(x: np.ndarray, dt: float) -> np.ndarray:
  class HoloMotionFKRootOnly (line 98) | class HoloMotionFKRootOnly(torch.nn.Module):
    method __init__ (line 105) | def __init__(
    method set_timing_logger (line 142) | def set_timing_logger(
    method _timing_ms (line 157) | def _timing_ms(self, t0: float) -> float:
    method _to_numpy (line 160) | def _to_numpy(self, x: torch.Tensor | np.ndarray) -> np.ndarray:
    method _to_output_tensor (line 171) | def _to_output_tensor(self, x: np.ndarray) -> torch.Tensor:
    method _get_gaussian_kernel (line 177) | def _get_gaussian_kernel(self, sigma: float) -> np.ndarray | None:
    method _gaussian_filter_time (line 193) | def _gaussian_filter_time(self, x: np.ndarray, kernel: np.ndarray | No...
    method _log_timing_message (line 205) | def _log_timing_message(self, message: str) -> None:
    method _record_timing (line 211) | def _record_timing(self, sample: Dict[str, float]) -> None:
    method forward (line 269) | def forward(

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/obs_builder/obs_builder.py
  function get_gravity_orientation (line 7) | def get_gravity_orientation(quaternion: np.ndarray) -> np.ndarray:
  class _CircularBuffer (line 28) | class _CircularBuffer:
    method __init__ (line 34) | def __init__(self, max_len: int, feat_dim: int):
    method buffer (line 48) | def buffer(self) -> torch.Tensor:
    method append (line 60) | def append(self, data: torch.Tensor) -> None:
  class PolicyObsBuilder (line 78) | class PolicyObsBuilder:
    method __init__ (line 90) | def __init__(
    method reset (line 124) | def reset(self) -> None:
    method _compute_term (line 130) | def _compute_term(
    method build_policy_obs (line 144) | def build_policy_obs(self) -> np.ndarray:

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/policy_node_29dof.py
  function _parse_cpu_affinity_str (line 51) | def _parse_cpu_affinity_str(s):
  function set_thread_cpu_affinity (line 64) | def set_thread_cpu_affinity(cpu_ids):
  function _decode_zmq_topic (line 109) | def _decode_zmq_topic(topic_value) -> bytes:
  function _coerce_config_bool (line 115) | def _coerce_config_bool(value, default: bool = False) -> bool:
  function _infer_onnx_dim (line 129) | def _infer_onnx_dim(dim, default: int = 1) -> int:
  function _infer_numpy_dtype_from_onnx_type (line 135) | def _infer_numpy_dtype_from_onnx_type(type_str: str):
  function unpack_numpy_message (line 150) | def unpack_numpy_message(packet: bytes, expected_topic: bytes | None = N...
  class LatestObsBuffer (line 192) | class LatestObsBuffer:
    method __init__ (line 195) | def __init__(self, max_queue_size: int = 20):
    method set (line 206) | def set(
    method get_with_age_and_delay (line 224) | def get_with_age_and_delay(self, max_age: float = 0.1, delay_steps: in...
    method get_queue_stats (line 256) | def get_queue_stats(self):
  class ZmqLatestObsSubscriber (line 272) | class ZmqLatestObsSubscriber:
    method __init__ (line 275) | def __init__(
    method _process_packet (line 300) | def _process_packet(self, packet: bytes):
    method _run (line 326) | def _run(self):
    method start (line 384) | def start(self):
    method stop (line 392) | def stop(self):
  class HoloMotionPolicyNode (line 400) | class HoloMotionPolicyNode(Node):
    method __init__ (line 431) | def __init__(self):
    method _is_vr_ready_for_motion (line 650) | def _is_vr_ready_for_motion(self) -> bool:
    method _init_keybody_indices_cache (line 667) | def _init_keybody_indices_cache(self):
    method _get_policy_atomic_obs_list (line 712) | def _get_policy_atomic_obs_list(self, config):
    method _find_actor_place_holder_ndim (line 862) | def _find_actor_place_holder_ndim(self):
    method _init_obs_buffers (line 875) | def _init_obs_buffers(self):
    method _reset_counter (line 931) | def _reset_counter(self):
    method _switch_to_velocity_mode (line 938) | def _switch_to_velocity_mode(self, reason: str = ""):
    method _is_button_pressed (line 961) | def _is_button_pressed(self, button_key):
    method load_policy (line 970) | def load_policy(self):
    method load_model_config (line 1137) | def load_model_config(self):
    method _load_motion_action_ema_filter_cfg (line 1195) | def _load_motion_action_ema_filter_cfg(self) -> None:
    method _reset_motion_action_ema_filter (line 1223) | def _reset_motion_action_ema_filter(self) -> None:
    method _apply_motion_action_ema_filter (line 1226) | def _apply_motion_action_ema_filter(
    method _build_dummy_input_from_onnx_node (line 1245) | def _build_dummy_input_from_onnx_node(self, node, fallback_last_dim: i...
    method _warmup_motion_policy (line 1257) | def _warmup_motion_policy(self, num_iters: int = 2) -> None:
    method update_config_parameters (line 1330) | def update_config_parameters(self):
    method load_motion_data (line 1372) | def load_motion_data(self):
    method _load_current_motion (line 1435) | def _load_current_motion(self):
    method _setup_subscribers (line 1477) | def _setup_subscribers(self):
    method _latest_obs_ros_callback (line 1502) | def _latest_obs_ros_callback(self, msg: Float32MultiArray):
    method _setup_publishers (line 1512) | def _setup_publishers(self):
    method _setup_timers (line 1542) | def _setup_timers(self):
    method _delayed_setup (line 1549) | def _delayed_setup(self):
    method _robot_state_callback (line 1563) | def _robot_state_callback(self, msg: String):
    method robot_root_rot_quat_wxyz (line 1586) | def robot_root_rot_quat_wxyz(self):
    method robot_root_ang_vel (line 1590) | def robot_root_ang_vel(self):
    method robot_dof_pos_by_name (line 1594) | def robot_dof_pos_by_name(self):
    method robot_dof_vel_by_name (line 1604) | def robot_dof_vel_by_name(self):
    method ref_motion_frame_idx (line 1614) | def ref_motion_frame_idx(self):
    method ref_dof_pos_raw (line 1618) | def ref_dof_pos_raw(self):
    method ref_dof_vel_raw (line 1630) | def ref_dof_vel_raw(self):
    method ref_dof_pos_onnx_order (line 1642) | def ref_dof_pos_onnx_order(self):
    method ref_dof_vel_onnx_order (line 1646) | def ref_dof_vel_onnx_order(self):
    method ref_root_pos_raw (line 1650) | def ref_root_pos_raw(self):
    method root_body_idx (line 1665) | def root_body_idx(self):
    method last_valid_ref_motion_frame_idx (line 1669) | def last_valid_ref_motion_frame_idx(self):
    method _xyzw_to_wxyz (line 1673) | def _xyzw_to_wxyz(self, q_xyzw: np.ndarray) -> np.ndarray:
    method _standardize_quaternion_wxyz (line 1683) | def _standardize_quaternion_wxyz(self, q_wxyz: np.ndarray) -> np.ndarray:
    method _quat_rotate_wxyz (line 1692) | def _quat_rotate_wxyz(self, q_wxyz: np.ndarray, v: np.ndarray) -> np.n...
    method _quat_rotate_inv_wxyz (line 1700) | def _quat_rotate_inv_wxyz(self, q_wxyz: np.ndarray, v: np.ndarray) -> ...
    method _quat_rotate_inv_wxyz_single (line 1708) | def _quat_rotate_inv_wxyz_single(
    method _get_future_frame_indices (line 1726) | def _get_future_frame_indices(self) -> np.ndarray:
    method _cache_fk_vr_for_obs (line 1736) | def _cache_fk_vr_for_obs(self):
    method _fill_vr_base_linvel_angvel_fut (line 1770) | def _fill_vr_base_linvel_angvel_fut(self):
    method _prepare_vr_fk_tensors (line 1795) | def _prepare_vr_fk_tensors(
    method _get_future_root_quat_wxyz (line 1832) | def _get_future_root_quat_wxyz(self) -> np.ndarray:
    method _get_ref_keybody_indices (line 1853) | def _get_ref_keybody_indices(self, term_name: str) -> np.ndarray:
    method _get_obs_actor_velocity_command (line 1862) | def _get_obs_actor_velocity_command(self):
    method _get_obs_actor_projected_gravity (line 1865) | def _get_obs_actor_projected_gravity(self):
    method _get_obs_actor_rel_robot_root_ang_vel (line 1868) | def _get_obs_actor_rel_robot_root_ang_vel(self):
    method _get_obs_actor_dof_pos (line 1871) | def _get_obs_actor_dof_pos(self):
    method _get_obs_actor_dof_vel (line 1874) | def _get_obs_actor_dof_vel(self):
    method _get_obs_actor_last_action (line 1877) | def _get_obs_actor_last_action(self):
    method _get_obs_actor_ref_gravity_projection_cur (line 1880) | def _get_obs_actor_ref_gravity_projection_cur(self):
    method _get_obs_actor_ref_gravity_projection_fut (line 1883) | def _get_obs_actor_ref_gravity_projection_fut(self):
    method _get_obs_actor_ref_base_linvel_cur (line 1886) | def _get_obs_actor_ref_base_linvel_cur(self):
    method _get_obs_actor_ref_base_linvel_fut (line 1889) | def _get_obs_actor_ref_base_linvel_fut(self):
    method _get_obs_actor_ref_base_angvel_cur (line 1892) | def _get_obs_actor_ref_base_angvel_cur(self):
    method _get_obs_actor_ref_base_angvel_fut (line 1895) | def _get_obs_actor_ref_base_angvel_fut(self):
    method _get_obs_actor_ref_dof_pos_cur (line 1898) | def _get_obs_actor_ref_dof_pos_cur(self):
    method _get_obs_actor_ref_dof_pos_fut (line 1901) | def _get_obs_actor_ref_dof_pos_fut(self):
    method _get_obs_actor_ref_root_height_cur (line 1904) | def _get_obs_actor_ref_root_height_cur(self):
    method _get_obs_actor_ref_root_height_fut (line 1907) | def _get_obs_actor_ref_root_height_fut(self):
    method _get_obs_actor_ref_keybody_rel_pos_cur (line 1910) | def _get_obs_actor_ref_keybody_rel_pos_cur(self):
    method _get_obs_actor_ref_keybody_rel_pos_fut (line 1913) | def _get_obs_actor_ref_keybody_rel_pos_fut(self):
    method _get_obs_velocity_command (line 1918) | def _get_obs_velocity_command(self):
    method _get_obs_projected_gravity (line 1928) | def _get_obs_projected_gravity(self):
    method _get_obs_rel_robot_root_ang_vel (line 1931) | def _get_obs_rel_robot_root_ang_vel(self):
    method _get_obs_dof_pos (line 1934) | def _get_obs_dof_pos(self):
    method _get_obs_dof_vel (line 1952) | def _get_obs_dof_vel(self):
    method _get_obs_last_action (line 1966) | def _get_obs_last_action(self):
    method _get_obs_ref_motion_states (line 1969) | def _get_obs_ref_motion_states(self):
    method _get_obs_ref_dof_pos_fut (line 1974) | def _get_obs_ref_dof_pos_fut(self):
    method _get_obs_ref_root_height_fut (line 2001) | def _get_obs_ref_root_height_fut(self):
    method _get_obs_ref_root_pos_fut (line 2019) | def _get_obs_ref_root_pos_fut(self):
    method _get_obs_ref_dof_pos_cur (line 2037) | def _get_obs_ref_dof_pos_cur(self):
    method _get_obs_ref_dof_vel_cur (line 2040) | def _get_obs_ref_dof_vel_cur(self):
    method _get_obs_ref_root_height_cur (line 2043) | def _get_obs_ref_root_height_cur(self):
    method _get_obs_ref_root_pos_cur (line 2050) | def _get_obs_ref_root_pos_cur(self):
    method _get_obs_ref_gravity_projection_cur (line 2053) | def _get_obs_ref_gravity_projection_cur(self):
    method _get_obs_ref_gravity_projection_fut (line 2072) | def _get_obs_ref_gravity_projection_fut(self):
    method _get_obs_ref_base_linvel_cur (line 2103) | def _get_obs_ref_base_linvel_cur(self):
    method _get_obs_ref_base_linvel_fut (line 2133) | def _get_obs_ref_base_linvel_fut(self):
    method _get_obs_ref_base_angvel_cur (line 2160) | def _get_obs_ref_base_angvel_cur(self):
    method _get_obs_ref_base_angvel_fut (line 2192) | def _get_obs_ref_base_angvel_fut(self):
    method _get_obs_ref_keybody_rel_pos_cur (line 2219) | def _get_obs_ref_keybody_rel_pos_cur(self):
    method _get_obs_ref_keybody_rel_pos_fut (line 2277) | def _get_obs_ref_keybody_rel_pos_fut(self):
    method _get_obs_place_holder (line 2340) | def _get_obs_place_holder(self):
    method _warmup_fk_for_vr (line 2345) | def _warmup_fk_for_vr(self):
    method _low_state_callback (line 2394) | def _low_state_callback(self, ls_msg: LowState):
    method run (line 2551) | def run(self):
    method _read_onnx_metadata (line 2636) | def _read_onnx_metadata(self, onnx_model_path: str) -> dict:
    method _store_external_latest_obs (line 2655) | def _store_external_latest_obs(self, arr: np.ndarray):
    method _poll_zmq_latest_obs (line 2715) | def _poll_zmq_latest_obs(self):
    method _publish_latest_obs (line 2774) | def _publish_latest_obs(self):
    method _apply_onnx_metadata (line 2785) | def _apply_onnx_metadata(self):
    method _build_dof_mappings (line 2815) | def _build_dof_mappings(self):
    method _publish_control_params (line 2921) | def _publish_control_params(self):
    method _publish_policy_mode (line 2953) | def _publish_policy_mode(self):
    method _timing_ms (line 2962) | def _timing_ms(self, t0: float) -> float:
    method _record_timing_sample (line 2965) | def _record_timing_sample(self, sample: dict):
    method _root_only_fk_has_required_keybodies (line 3020) | def _root_only_fk_has_required_keybodies(self, keybody_idxs: np.ndarra...
    method _run_without_profiling (line 3034) | def _run_without_profiling(self):
    method _process_and_publish_actions (line 3217) | def _process_and_publish_actions(self):
    method setup (line 3231) | def setup(self):
    method _init_fk (line 3252) | def _init_fk(self):
    method destroy_node (line 3295) | def destroy_node(self):
  function get_gravity_orientation (line 3304) | def get_gravity_orientation(quaternion: np.ndarray) -> np.ndarray:
  function main (line 3325) | def main():

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/command_helper.py
  class MotorMode (line 6) | class MotorMode:
  function create_damping_cmd (line 11) | def create_damping_cmd(cmd: Union[LowCmdGo, LowCmdHG]):
  function create_zero_cmd (line 21) | def create_zero_cmd(cmd: Union[LowCmdGo, LowCmdHG]):
  function init_cmd_hg (line 31) | def init_cmd_hg(cmd: LowCmdHG, mode_machine: int, mode_pr: int):
  function init_cmd_go (line 44) | def init_cmd_go(cmd: LowCmdGo, weak_motor: list):

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/maths.py
  function normalize (line 8) | def normalize(x, eps: float = 1e-9):
  function torch_rand_float (line 13) | def torch_rand_float(lower, upper, shape, device):
  function copysign (line 19) | def copysign(a, b):
  function set_seed (line 25) | def set_seed(seed, torch_deterministic=False):
  function to_torch (line 53) | def to_torch(x, dtype=torch.float, device="cuda:0", requires_grad=False):
  function quat_mul_legacy (line 60) | def quat_mul_legacy(
  function quat_mul (line 107) | def quat_mul(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor:
  function normalize (line 146) | def normalize(x, eps: float = 1e-9):
  function quat_apply (line 151) | def quat_apply(quat: torch.Tensor, vec: torch.Tensor) -> torch.Tensor:
  function quat_apply_inverse (line 173) | def quat_apply_inverse(quat: torch.Tensor, vec: torch.Tensor) -> torch.T...
  function quat_rotate (line 195) | def quat_rotate(q, v):
  function quat_rotate_inverse (line 212) | def quat_rotate_inverse(q, v):
  function quat_conjugate (line 229) | def quat_conjugate(a):
  function quat_unit (line 237) | def quat_unit(a):
  function quat_from_angle_axis (line 242) | def quat_from_angle_axis(angle, axis):
  function normalize_angle (line 250) | def normalize_angle(x):
  function get_basis_vector (line 255) | def get_basis_vector(q, v):
  function get_axis_params (line 259) | def get_axis_params(value, axis_idx, x_value=0.0, dtype=np.float64, n_di...
  function get_euler_xyz (line 278) | def get_euler_xyz(q: torch.Tensor) -> tuple:
  function quat_from_euler_xyz (line 312) | def quat_from_euler_xyz(roll, pitch, yaw):
  function torch_rand_float (line 328) | def torch_rand_float(lower, upper, shape, device):
  function torch_random_dir_2 (line 334) | def torch_random_dir_2(shape, device):
  function tensor_clamp (line 340) | def tensor_clamp(t, min_t, max_t):
  function scale (line 345) | def scale(x, lower, upper):
  function unscale (line 350) | def unscale(x, lower, upper):
  function unscale_np (line 354) | def unscale_np(x, lower, upper):
  function quat_to_angle_axis (line 359) | def quat_to_angle_axis(q):
  function angle_axis_to_exp_map (line 382) | def angle_axis_to_exp_map(angle, axis):
  function quat_to_exp_map (line 390) | def quat_to_exp_map(q):
  function slerp (line 399) | def slerp(q0, q1, t):
  function my_quat_rotate (line 425) | def my_quat_rotate(q, v):
  function calc_heading (line 442) | def calc_heading(q):
  function calc_heading_quat (line 456) | def calc_heading_quat(q):
  function calc_heading_quat_inv (line 469) | def calc_heading_quat_inv(q):
  function axis_angle_from_quat (line 482) | def axis_angle_from_quat(
  function quat_inv (line 547) | def quat_inv(q: torch.Tensor, eps: float = 1e-9) -> torch.Tensor:
  function xyzw_to_wxyz (line 563) | def xyzw_to_wxyz(q: torch.Tensor) -> torch.Tensor:
  function wxyz_to_xyzw (line 574) | def wxyz_to_xyzw(q: torch.Tensor) -> torch.Tensor:
  function quat_mul_wxyz (line 586) | def quat_mul_wxyz(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor:
  function subtract_frame_transforms (line 598) | def subtract_frame_transforms(
  function quat_normalize_wxyz (line 636) | def quat_normalize_wxyz(q_wxyz: torch.Tensor) -> torch.Tensor:
  function matrix_from_quat (line 650) | def matrix_from_quat(quaternions: torch.Tensor) -> torch.Tensor:

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/motor_crc.py
  function crc32_core (line 6) | def crc32_core(data_array, length):
  function calc_crc (line 24) | def calc_crc(cmd) -> int:

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/remote_controller_filter.py
  class KeyMap (line 4) | class KeyMap:
  class RemoteController (line 23) | class RemoteController:
    method __init__ (line 24) | def __init__(self):
    method apply_filter_and_deadzone (line 52) | def apply_filter_and_deadzone(self, value, prev_value):
    method set (line 58) | def set(self, data):
    method get_velocity_commands (line 82) | def get_velocity_commands(self):

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/rotation_helper.py
  function get_gravity_orientation (line 5) | def get_gravity_orientation(quaternion):
  function transform_imu_data (line 20) | def transform_imu_data(waist_yaw, waist_yaw_omega, imu_quat, imu_omega):

FILE: deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/rotations.py
  function quat_unit (line 14) | def quat_unit(a):
  function quat_apply (line 19) | def quat_apply(a: Tensor, b: Tensor, w_last: bool) -> Tensor:
  function quat_apply_yaw (line 34) | def quat_apply_yaw(quat: Tensor, vec: Tensor, w_last: bool) -> Tensor:
  function wrap_to_pi (line 42) | def wrap_to_pi(angles):
  function quat_conjugate (line 49) | def quat_conjugate(a: Tensor, w_last: bool) -> Tensor:
  function quat_apply (line 59) | def quat_apply(a: Tensor, b: Tensor, w_last: bool) -> Tensor:
  function quat_rotate (line 74) | def quat_rotate(q: Tensor, v: Tensor, w_last: bool) -> Tensor:
  function quat_rotate_inverse (line 95) | def quat_rotate_inverse(q: Tensor, v: Tensor, w_last: bool) -> Tensor:
  function quat_angle_axis (line 116) | def quat_angle_axis(x: Tensor, w_last: bool) -> Tuple[Tensor, Tensor]:
  function quat_from_angle_axis (line 134) | def quat_from_angle_axis(angle: Tensor, axis: Tensor, w_last: bool) -> T...
  function vec_to_heading (line 145) | def vec_to_heading(h_vec):
  function heading_to_quat (line 151) | def heading_to_quat(h_theta, w_last: bool):
  function quat_axis (line 165) | def quat_axis(q: Tensor, axis: int, w_last: bool) -> Tensor:
  function normalize_angle (line 172) | def normalize_angle(x):
  function get_basis_vector (line 177) | def get_basis_vector(q: Tensor, v: Tensor, w_last: bool) -> Tensor:
  function quat_to_angle_axis (line 182) | def quat_to_angle_axis(q):
  function slerp (line 207) | def slerp(q0, q1, t):
  function angle_axis_to_exp_map (line 234) | def angle_axis_to_exp_map(angle, axis):
  function my_quat_rotate (line 243) | def my_quat_rotate(q, v):
  function calc_heading (line 260) | def calc_heading(q):
  function quat_to_exp_map (line 275) | def quat_to_exp_map(q):
  function calc_heading_quat (line 285) | def calc_heading_quat(q, w_last):
  function calc_heading_quat_inv (line 299) | def calc_heading_quat_inv(q, w_last):
  function quat_inverse (line 313) | def quat_inverse(x, w_last):
  function get_euler_xyz (line 322) | def get_euler_xyz(q: Tensor, w_last: bool) -> Tuple[Tensor, Tensor, Tens...
  function get_euler_xyz_in_tensor (line 357) | def get_euler_xyz_in_tensor(q):
  function quat_pos (line 389) | def quat_pos(x):
  function is_valid_quat (line 400) | def is_valid_quat(q):
  function quat_normalize (line 406) | def quat_normalize(q):
  function quat_mul (line 415) | def quat_mul(a, b, w_last: bool):
  function quat_mul_norm (line 446) | def quat_mul_norm(x, y, w_last):
  function quat_mul_norm (line 456) | def quat_mul_norm(x, y, w_last):
  function quat_identity (line 466) | def quat_identity(shape: List[int]):
  function quat_identity_like (line 477) | def quat_identity_like(x):
  function transform_from_rotation_translation (line 485) | def transform_from_rotation_translation(
  function transform_rotation (line 503) | def transform_rotation(x):
  function transform_translation (line 509) | def transform_translation(x):
  function transform_mul (line 515) | def transform_mul(x, y):
  function quaternion_to_matrix (line 533) | def quaternion_to_matrix(quaternions: torch.Tensor) -> torch.Tensor:
  function axis_angle_to_quaternion (line 565) | def axis_angle_to_quaternion(axis_angle: torch.Tensor) -> torch.Tensor:
  function wxyz_to_xyzw (line 599) | def wxyz_to_xyzw(quat):
  function xyzw_to_wxyz (line 604) | def xyzw_to_wxyz(quat):
  function matrix_to_quaternion (line 608) | def matrix_to_quaternion(matrix: torch.Tensor) -> torch.Tensor:
  function _sqrt_positive_part (line 672) | def _sqrt_positive_part(x: torch.Tensor) -> torch.Tensor:
  function quat_w_first (line 683) | def quat_w_first(rot):
  function quat_from_euler_xyz (line 689) | def quat_from_euler_xyz(roll, pitch, yaw):

FILE: deployment/unitree_g1_ros2_29dof/src/include/common/motor_crc.h
  type BmsCmd (line 39) | typedef struct
  type MotorCmd (line 47) | typedef struct
  type LowCmd (line 60) | typedef struct

FILE: deployment/unitree_g1_ros2_29dof/src/include/common/motor_crc_hg.h
  type MotorCmd (line 14) | typedef struct
  type LowCmd (line 25) | typedef struct

FILE: deployment/unitree_g1_ros2_29dof/src/include/common/ros2_sport_client.h
  type PathPoint (line 42) | typedef struct
  function class (line 53) | class SportClient

FILE: deployment/unitree_g1_ros2_29dof/src/include/common/wireless_controller.h
  function class (line 7) | class KeyMap {
  function class (line 27) | class RemoteController {

FILE: deployment/unitree_g1_ros2_29dof/src/launch/holomotion_29dof_launch.py
  function generate_launch_description (line 35) | def generate_launch_description():

FILE: deployment/unitree_g1_ros2_29dof/src/src/common/motor_crc.cpp
  function get_crc (line 4) | void get_crc(unitree_go::msg::LowCmd& msg)
  function crc32_core (line 49) | uint32_t crc32_core(uint32_t* ptr, uint32_t len)

FILE: deployment/unitree_g1_ros2_29dof/src/src/common/motor_crc_hg.cpp
  function get_crc (line 3) | void get_crc(unitree_hg::msg::LowCmd &msg)
  function crc32_core (line 28) | uint32_t crc32_core(uint32_t *ptr, uint32_t len)

FILE: deployment/unitree_g1_ros2_29dof/src/src/main_node.cpp
  type PRorAB (line 25) | enum PRorAB { PR = 0, AB = 1 }
  type RobotState (line 31) | enum class RobotState { ZERO_TORQUE, MOVE_TO_DEFAULT, EMERGENCY_STOP, PO...
  type EmergencyStopPhase (line 32) | enum class EmergencyStopPhase { DAMPING, DISABLE }
  class humanoid_controller (line 35) | class humanoid_controller : public rclcpp::Node {
    method humanoid_controller (line 37) | humanoid_controller() : Node("humanoid_controller") {
    method calculateExpectedTorque (line 134) | double calculateExpectedTorque(const std::string& dof_name, double q_d...
    method limitTorque (line 142) | std::pair<double, double> limitTorque(const std::string& dof_name, dou...
    method limitTorqueWithCustomGains (line 166) | std::pair<double, double> limitTorqueWithCustomGains(
    method loadConfig (line 193) | void loadConfig(const std::string &config_path) {
    method Control (line 327) | void Control() {
    method SendZeroTorqueCommand (line 472) | void SendZeroTorqueCommand() {
    method SendDefaultPositionCommand (line 486) | void SendDefaultPositionCommand() {
    method SendPolicyCommand (line 571) | void SendPolicyCommand() {
    method SendDampedEmergencyStop (line 622) | void SendDampedEmergencyStop() {
    method SendFinalEmergencyStop (line 640) | void SendFinalEmergencyStop() {
    method LowStateHandler (line 654) | void LowStateHandler(unitree_hg::msg::LowState::SharedPtr message) {
    method PolicyActionHandler (line 677) | void PolicyActionHandler(
    method KpsHandler (line 725) | void KpsHandler(const std_msgs::msg::Float32MultiArray::SharedPtr mess...
    method KdsHandler (line 749) | void KdsHandler(const std_msgs::msg::Float32MultiArray::SharedPtr mess...
    method clamp (line 773) | double clamp(double value, double low, double high) {
    method robotStateToString (line 781) | std::string robotStateToString(RobotState state) {
    method publishRobotState (line 796) | void publishRobotState() {
  function main (line 828) | int main(int argc, char **argv) {

FILE: holomotion/scripts/evaluation/mean_process_5metrics.py
  function get_dataset_name (line 73) | def get_dataset_name(motion_key):
  function process_data (line 88) | def process_data(folder_path):
  function highlight_best (line 165) | def highlight_best(val, best_val):
  function generate_report (line 178) | def generate_report(
  function _format_metric_values_for_cli (line 236) | def _format_metric_values_for_cli(sub_df: pd.DataFrame) -> pd.DataFrame:
  function _print_cli_tables (line 246) | def _print_cli_tables(df: pd.DataFrame, title: str, folder_path: str) ->...
  function generate_macro_mean_report_from_json_dir (line 302) | def generate_macro_mean_report_from_json_dir(folder_path: str) -> str:

FILE: holomotion/src/algo/algo_base.py
  class BaseOnpolicyRL (line 41) | class BaseOnpolicyRL:
    method __init__ (line 44) | def __init__(
    method _setup_accelerator (line 71) | def _setup_accelerator(self) -> None:
    method _setup_environment (line 208) | def _setup_environment(self) -> None:
    method _setup_configs (line 283) | def _setup_configs(self) -> None:
    method _setup_seeding (line 305) | def _setup_seeding(self) -> None:
    method _setup_data_buffers (line 323) | def _setup_data_buffers(self) -> None:
    method _setup_algo_components (line 353) | def _setup_algo_components(self) -> None:
    method _setup_models_and_optimizer (line 357) | def _setup_models_and_optimizer(self) -> None:
    method _build_storage (line 362) | def _build_storage(self, obs_td: TensorDict) -> Any:
    method _post_env_step_hook (line 366) | def _post_env_step_hook(
    method _post_update_hook (line 381) | def _post_update_hook(self, loss_dict: Dict[str, Any]) -> None:
    method _extra_checkpoint_state (line 385) | def _extra_checkpoint_state(self) -> Dict[str, Any]:
    method _load_extra_checkpoint_state (line 389) | def _load_extra_checkpoint_state(
    method _build_transition (line 395) | def _build_transition(
    method _post_iteration_hook (line 405) | def _post_iteration_hook(self, it: int) -> None:
    method _post_training_hook (line 408) | def _post_training_hook(self) -> None:
    method _release_cuda_cache (line 411) | def _release_cuda_cache(self) -> None:
    method _get_additional_log_metrics (line 415) | def _get_additional_log_metrics(self) -> Dict[str, Any]:
    method train_mode (line 418) | def train_mode(self) -> None:
    method _ensure_storage (line 422) | def _ensure_storage(self, obs_td: TensorDict) -> None:
    method _reset_rollout_forward_state (line 431) | def _reset_rollout_forward_state(self) -> None:
    method _rollout_forward (line 435) | def _rollout_forward(
    method _track_episode_stats (line 482) | def _track_episode_stats(
    method _compute_returns (line 510) | def _compute_returns(self, obs_td: TensorDict) -> None:
    method rollout_policy (line 533) | def rollout_policy(self, obs_td: TensorDict) -> TensorDict:
    method learn (line 550) | def learn(self):
    method process_env_step (line 620) | def process_env_step(
    method _wrap_obs_dict (line 651) | def _wrap_obs_dict(self, obs_dict: dict) -> TensorDict:
    method _clean_state_dict (line 660) | def _clean_state_dict(state_dict: Dict[str, Any]) -> Dict[str, Any]:
    method _load_model_state (line 677) | def _load_model_state(self, model, state_dict, *, strict: bool = True):
    method _resolve_model_file_path (line 692) | def _resolve_model_file_path(self, ckpt_path: str, model_name: str) ->...
    method _load_accelerate_model (line 703) | def _load_accelerate_model(
    method _aggregate_episode_log_metrics (line 722) | def _aggregate_episode_log_metrics(
    method _log_value_to_cpu_tensor (line 754) | def _log_value_to_cpu_tensor(value: Any) -> torch.Tensor | None:
    method _log_iteration (line 766) | def _log_iteration(
    method load (line 841) | def load(self, ckpt_path):
    method save (line 844) | def save(self, path, infos=None):

FILE: holomotion/src/algo/algo_utils.py
  class AlgoLogger (line 29) | class AlgoLogger:
    method __init__ (line 30) | def __init__(
    method _is_scalar_metric (line 42) | def _is_scalar_metric(value: Any) -> bool:
    method _to_scalar (line 50) | def _to_scalar(value: Any) -> float:
    method _format_console_value (line 56) | def _format_console_value(value: Any) -> str:
    method _build_console_log (line 71) | def _build_console_log(
    method log_iteration (line 105) | def log_iteration(
  class PpoTransition (line 139) | class PpoTransition:
  class PpoVelocityTransition (line 182) | class PpoVelocityTransition:
  class PpoAuxTransition (line 228) | class PpoAuxTransition:
  class RolloutStorage (line 291) | class RolloutStorage(nn.Module):
    method __init__ (line 294) | def __init__(
    method _resolve_shape (line 326) | def _resolve_shape(self, spec_shape, actions_shape) -> tuple:
    method _allocate_from_transition (line 340) | def _allocate_from_transition(
    method _to_storage_tensor (line 388) | def _to_storage_tensor(self, tensor: torch.Tensor) -> torch.Tensor:
    method add (line 400) | def add(self, transition: PpoTransition) -> None:
    method clear (line 425) | def clear(self) -> None:
    method compute_returns (line 428) | def compute_returns(
    method normalize_advantages_global (line 463) | def normalize_advantages_global(
    method normalize_advantages_global_by_move_mask (line 498) | def normalize_advantages_global_by_move_mask(
    method normalize_advantages_global_by_command (line 582) | def normalize_advantages_global_by_command(
    method iter_minibatches (line 600) | def iter_minibatches(
    method resolve_mini_batch_partition (line 634) | def resolve_mini_batch_partition(

FILE: holomotion/src/algo/ppo.py
  function _checkpoint_state_to_cpu (line 44) | def _checkpoint_state_to_cpu(value):
  class PPO (line 56) | class PPO(BaseOnpolicyRL):
    method _setup_configs (line 57) | def _setup_configs(self):
    method _resolve_num_mini_batches (line 234) | def _resolve_num_mini_batches(self, base_num_mini_batches: int) -> int:
    method _compute_lr_scale_factor (line 239) | def _compute_lr_scale_factor(self, lr_scale_cfg) -> float:
    method _symmetry_loss_active (line 277) | def _symmetry_loss_active(self) -> bool:
    method _omega_or_obj_to_dict (line 285) | def _omega_or_obj_to_dict(value):
    method _setup_symmetry (line 296) | def _setup_symmetry(self) -> None:
    method _extract_obs_mirror_metadata (line 342) | def _extract_obs_mirror_metadata(self) -> dict[str, dict]:
    method _get_actor_schema_terms (line 368) | def _get_actor_schema_terms(self) -> set[str]:
    method _build_obs_mirror_map (line 384) | def _build_obs_mirror_map(self) -> None:
    method _td_key_to_path (line 432) | def _td_key_to_path(key) -> str:
    method _mirror_actor_obs (line 437) | def _mirror_actor_obs(self, obs_td: TensorDict) -> TensorDict:
    method _mirror_env_action (line 462) | def _mirror_env_action(self, actions: torch.Tensor) -> torch.Tensor:
    method _compute_analytic_kl (line 483) | def _compute_analytic_kl(
    method _compute_clip_fraction (line 516) | def _compute_clip_fraction(
    method _compute_explained_variance (line 545) | def _compute_explained_variance(
    method _set_optimizer_learning_rates (line 591) | def _set_optimizer_learning_rates(self) -> None:
    method _validate_entropy_schedule_config (line 598) | def _validate_entropy_schedule_config(
    method _get_effective_entropy_coef (line 612) | def _get_effective_entropy_coef(self) -> float:
    method _apply_adaptive_lr (line 634) | def _apply_adaptive_lr(self, kl_signal: float | None) -> None:
    method _compute_windowed_kl_signal (line 666) | def _compute_windowed_kl_signal(
    method _should_early_stop_for_kl (line 674) | def _should_early_stop_for_kl(
    method _setup_data_buffers (line 690) | def _setup_data_buffers(self):
    method _build_optimizer_kwargs (line 702) | def _build_optimizer_kwargs(self, optimizer_class: type) -> dict:
    method _setup_models_and_optimizer (line 723) | def _setup_models_and_optimizer(self):
    method _build_storage (line 826) | def _build_storage(self, obs_td: TensorDict):
    method _build_transition (line 837) | def _build_transition(
    method _post_iteration_hook (line 896) | def _post_iteration_hook(self, it: int) -> None:
    method _post_training_hook (line 903) | def _post_training_hook(self) -> None:
    method _get_mean_policy_std (line 909) | def _get_mean_policy_std(self) -> torch.Tensor:
    method _maybe_override_loaded_actor_sigma (line 917) | def _maybe_override_loaded_actor_sigma(self) -> None:
    method _get_additional_log_metrics (line 945) | def _get_additional_log_metrics(self) -> dict[str, float]:
    method update (line 990) | def update(self):
    method load (line 1244) | def load(self, ckpt_path):
    method _restore_optimizer_state (line 1278) | def _restore_optimizer_state(
    method _optimizer_state_is_compatible (line 1309) | def _optimizer_state_is_compatible(
    method save (line 1340) | def save(self, path, infos=None):
    method offline_evaluate_policy (line 1375) | def offline_evaluate_policy(self, dump_npzs: bool = False):

FILE: holomotion/src/algo/ppo_tf.py
  class PPOTF (line 42) | class PPOTF(PPO):
    method _select_actor_wrapper_cls (line 46) | def _select_actor_wrapper_cls(actor_cfg: dict):
    method _summarize_moe_layer_stats (line 77) | def _summarize_moe_layer_stats(moe_layers) -> dict[str, float | None]:
    method _setup_configs (line 108) | def _setup_configs(self):
    method _unwrap_obs_schema (line 451) | def _unwrap_obs_schema(schema: dict | None) -> dict | None:
    method _schema_term_leaf_name (line 466) | def _schema_term_leaf_name(term: str) -> str:
    method _is_aux_command_term (line 470) | def _is_aux_command_term(cls, term: str, term_prefix: str) -> bool:
    method _build_aux_router_command_recon_schema (line 474) | def _build_aux_router_command_recon_schema(
    method _masked_aux_keybody_mse (line 497) | def _masked_aux_keybody_mse(
    method _masked_aux_mse (line 524) | def _masked_aux_mse(
    method _masked_adjacent_router_js (line 551) | def _masked_adjacent_router_js(
    method _masked_adjacent_router_normed_smooth_l1 (line 613) | def _masked_adjacent_router_normed_smooth_l1(
    method _masked_aux_gaussian_nll (line 678) | def _masked_aux_gaussian_nll(
    method _masked_aux_huber (line 724) | def _masked_aux_huber(
    method _compute_aux_router_future_recon_loss (line 753) | def _compute_aux_router_future_recon_loss(
    method _compute_routed_expert_orthogonal_loss (line 782) | def _compute_routed_expert_orthogonal_loss(
    method _root_relative_body_pos_from_mixed_position_frames (line 829) | def _root_relative_body_pos_from_mixed_position_frames(
    method _setup_models_and_optimizer (line 886) | def _setup_models_and_optimizer(self):
    method _setup_data_buffers (line 1148) | def _setup_data_buffers(self):
    method _build_transition (line 1218) | def _build_transition(
    method _build_storage (line 1393) | def _build_storage(self, obs_td: TensorDict):
    method _sample_iteration_future_masks (line 1415) | def _sample_iteration_future_masks(self) -> torch.Tensor | None:
    method _reset_rollout_forward_state (line 1469) | def _reset_rollout_forward_state(self) -> None:
    method _rollout_forward (line 1479) | def _rollout_forward(
    method process_env_step (line 1523) | def process_env_step(
    method _build_episode_causal_mask (line 1537) | def _build_episode_causal_mask(dones_seq: torch.Tensor) -> torch.Tensor:
    method _resolve_sequence_batch_partition (line 1548) | def _resolve_sequence_batch_partition(
    method _sequence_batches (line 1567) | def _sequence_batches(
    method update (line 1704) | def update(self):

FILE: holomotion/src/data_curation/data_smplify.py
  function ensure_dir (line 29) | def ensure_dir(path):
  function main (line 40) | def main():

FILE: holomotion/src/data_curation/filter/filter.py
  function checksitpose (line 24) | def checksitpose(
  function process_dataset (line 62) | def process_dataset(
  function jsonl_to_yaml (line 177) | def jsonl_to_yaml(jsonl_path, yaml_output_path):

FILE: holomotion/src/data_curation/filter/label_data.py
  function calc_max_xy_translation (line 29) | def calc_max_xy_translation(motion_data: dict):
  function calc_max_z_translation (line 42) | def calc_max_z_translation(motion_data: dict):
  function calc_max_velocity_scale (line 55) | def calc_max_velocity_scale(motion_data: dict, fps: float = 30):
  function calc_mean_velocity_scale (line 64) | def calc_mean_velocity_scale(motion_data: dict, fps: float = 30):
  function calc_std_velocity_scale (line 73) | def calc_std_velocity_scale(motion_data: dict, fps: float = 30):
  function calc_max_vxy_scale (line 82) | def calc_max_vxy_scale(motion_data: dict, fps: float = 30):
  function calc_std_accel (line 93) | def calc_std_accel(motion_data: dict, fps: float = 30.0) -> float:
  function calc_max_vz_scale (line 130) | def calc_max_vz_scale(motion_data: dict, fps: float = 30):
  function calc_vz_scale_with_direction (line 141) | def calc_vz_scale_with_direction(motion_data: dict, fps: float = 30):
  function beyond_upper_dof_limits (line 155) | def beyond_upper_dof_limits(
  class HyperParams (line 175) | class HyperParams:
  function label_data_with_metrics (line 203) | def label_data_with_metrics(data_folder, jsonl_path: str, parent_folder:...
  function main (line 285) | def main():

FILE: holomotion/src/data_curation/smpl_npz_to_html.py
  class SmplSequence (line 45) | class SmplSequence:
  function parse_args (line 55) | def parse_args() -> argparse.Namespace:
  function euler_fix_rot (line 99) | def euler_fix_rot(euler_deg=EULER_FIX_DEG, order=EULER_ORDER) -> R:
  function _require_key (line 104) | def _require_key(data: np.lib.npyio.NpzFile, key: str) -> np.ndarray:
  function load_npz (line 112) | def load_npz(path: Path) -> SmplSequence:
  function validate_sequence (line 130) | def validate_sequence(seq: SmplSequence, pose_joints: int) -> int:
  function build_smpl_frames (line 152) | def build_smpl_frames(
  function render_html (line 202) | def render_html(template_path: Path, frames: list, T: int, fps: float) -...
  function main (line 217) | def main(

FILE: holomotion/src/data_curation/smplify/smplify_humanact12.py
  function joints2smpl (line 41) | def joints2smpl(file_name, data_dir, save_dir):
  function humanact12_to_amass (line 169) | def humanact12_to_amass(data_dir, save_dir):

FILE: holomotion/src/data_curation/smplify/smplify_motionx.py
  function motionx_to_amass (line 23) | def motionx_to_amass(src_root, dst_root):

FILE: holomotion/src/data_curation/smplify/smplify_omomo.py
  class MyHandFootManipDataset (line 35) | class MyHandFootManipDataset(HandFootManipDataset):
    method __init__ (line 42) | def __init__(self, *args, **kwargs):
    method __getitem__ (line 56) | def __getitem__(self, index):
  function run_smplx_model (line 175) | def run_smplx_model(root_trans, aa_rot_rep, betas, gender, fname):
  function process_dataset (line 250) | def process_dataset(dl, dataset, target_folder, split_name: str):
  function omomo_to_amass (line 322) | def omomo_to_amass(data_root_folder, target_folder):

FILE: holomotion/src/data_curation/smplify/smplify_zjumocap.py
  function zju_single_to_amass (line 24) | def zju_single_to_amass(
  function zju_to_amass (line 94) | def zju_to_amass(input_dir, output_dir):

FILE: holomotion/src/data_curation/video_to_smpl_gvhmr.py
  function get_video_fps (line 76) | def get_video_fps(video_path: Path) -> float:
  function is_close_fps (line 85) | def is_close_fps(a: float, b: float, tol: float = 0.02) -> bool:
  function transcode_to_30fps_cfr (line 89) | def transcode_to_30fps_cfr(src: Path, dst: Path, crf: int) -> None:
  function parse_args_to_cfg (line 113) | def parse_args_to_cfg(args=None):
  function run_preprocess (line 208) | def run_preprocess(cfg):
  function load_data_dict (line 299) | def load_data_dict(cfg):
  function save_npz (line 329) | def save_npz(pred, save_path):
  function render_incam (line 362) | def render_incam(cfg):
  function render_global (line 413) | def render_global(cfg):

FILE: holomotion/src/data_curation/vison_mocap/joints2smpl.py
  function joints2smpl (line 40) | def joints2smpl(input_joints, save_name):

FILE: holomotion/src/data_curation/visualize_smpl_npz.py
  class AppConfig (line 112) | class AppConfig:
  function parse_args (line 125) | def parse_args() -> argparse.Namespace:
  function js_escape (line 170) | def js_escape(s: str) -> str:
  function ensure_exists (line 174) | def ensure_exists(path: Path, what: str) -> None:
  function is_port_available (line 179) | def is_port_available(port: int) -> bool:
  class StaticServer (line 192) | class StaticServer:
    method __init__ (line 193) | def __init__(self, root: Path, port: int):
    method start (line 198) | def start(self) -> None:
  class MakeVisRunner (line 211) | class MakeVisRunner:
    method __init__ (line 212) | def __init__(
    method run (line 224) | def run(self, npz_path: Path) -> None:
  function pick_npz_dialog (line 244) | def pick_npz_dialog(window) -> Optional[Path]:
  class UIAPI (line 261) | class UIAPI:
    method __init__ (line 262) | def __init__(self, window, cfg: AppConfig, runner: MakeVisRunner):
    method pick_and_generate (line 268) | def pick_and_generate(self) -> None:
    method auto_pick_once (line 300) | def auto_pick_once(self) -> None:
  function build_config (line 312) | def build_config(args: argparse.Namespace) -> AppConfig:
  function main (line 342) | def main() -> None:

FILE: holomotion/src/env/isaaclab_components/isaaclab_actions.py
  class ActionFunctions (line 22) | class ActionFunctions:
    method joint_position_action (line 26) | def joint_position_action(
    method joint_velocity_action (line 43) | def joint_velocity_action(
    method joint_effort_action (line 58) | def joint_effort_action(
  class ActionsCfg (line 74) | class ActionsCfg:
  function build_actions_config (line 80) | def build_actions_config(actions_config_dict: dict) -> ActionsCfg:

FILE: holomotion/src/env/isaaclab_components/isaaclab_curriculum.py
  function _completion_rate_curriculum_get_level (line 31) | def _completion_rate_curriculum_get_level(
  function lin_vel_cmd_levels (line 130) | def lin_vel_cmd_levels(
  function ang_vel_cmd_levels (line 164) | def ang_vel_cmd_levels(
  function robot_friction_range_by_completion_rate (line 192) | def robot_friction_range_by_completion_rate(
  function rigid_body_com_by_completion_rate (line 288) | def rigid_body_com_by_completion_rate(
  function default_dof_pos_bias_by_completion_rate (line 357) | def default_dof_pos_bias_by_completion_rate(
  function push_by_setting_velocity_range_by_completion_rate (line 424) | def push_by_setting_velocity_range_by_completion_rate(
  function randomize_actuator_gains_by_completion_rate (line 498) | def randomize_actuator_gains_by_completion_rate(
  function reward_term_weight_by_completion_rate (line 575) | def reward_term_weight_by_completion_rate(
  class CurriculumCfg (line 627) | class CurriculumCfg:
  function build_curriculum_config (line 631) | def build_curriculum_config(curriculum_config_dict: dict) -> CurriculumCfg:

FILE: holomotion/src/env/isaaclab_components/isaaclab_domain_rand.py
  class DomainRandFunctions (line 34) | class DomainRandFunctions:
    method _get_dr_default_dof_pos_bias (line 36) | def _get_dr_default_dof_pos_bias(
    method _get_dr_rigid_body_com (line 85) | def _get_dr_rigid_body_com(
    method _get_dr_rigid_body_material (line 102) | def _get_dr_rigid_body_material(
    method _get_dr_push_by_setting_velocity (line 130) | def _get_dr_push_by_setting_velocity(
    method _get_dr_randomize_actuator_gains (line 142) | def _get_dr_randomize_actuator_gains(
    method _get_dr_randomize_mass (line 167) | def _get_dr_randomize_mass(
  class EventsCfg (line 186) | class EventsCfg:
  function build_domain_rand_config (line 190) | def build_domain_rand_config(domain_rand_config_dict: dict) -> EventsCfg:

FILE: holomotion/src/env/isaaclab_components/isaaclab_motion_tracking_command.py
  class RefMotionCommand (line 92) | class RefMotionCommand(CommandTerm):
    method __init__ (line 95) | def __init__(
    method _init_tracking_config (line 113) | def _init_tracking_config(self, config):
    method _amp_filter_names_by_prefix (line 148) | def _amp_filter_names_by_prefix(
    method _amp_pick_first_name (line 158) | def _amp_pick_first_name(
    method _resolve_motion_cache_stage_device (line 167) | def _resolve_motion_cache_stage_device(
    method _init_motion_lib (line 216) | def _init_motion_lib(self):
    method setup_dumping_dir (line 669) | def setup_dumping_dir(self, log_dir: str):
    method set_runtime_distributed_context (line 699) | def set_runtime_distributed_context(
    method set_motion_cache_seed (line 705) | def set_motion_cache_seed(
    method close (line 712) | def close(self) -> None:
    method _init_per_env_cache (line 718) | def _init_per_env_cache(self):
    method _maybe_dump_sampled_motion_keys (line 743) | def _maybe_dump_sampled_motion_keys(self) -> None:
    method _init_robot_handle (line 797) | def _init_robot_handle(self):
    method _init_buffers (line 1017) | def _init_buffers(self):
    method _record_completion_rate_for_envs (line 1090) | def _record_completion_rate_for_envs(self, env_ids: torch.Tensor) -> N...
    method _reset_window_curriculum_stats (line 1144) | def _reset_window_curriculum_stats(self) -> None:
    method _build_window_curriculum_stats_from_current_batch (line 1150) | def _build_window_curriculum_stats_from_current_batch(
    method _update_cache_curriculum_state (line 1192) | def _update_cache_curriculum_state(
    method update_curriculum_reward_accumulators (line 1229) | def update_curriculum_reward_accumulators(
    method command (line 1251) | def command(
    method command_fut (line 1258) | def command_fut(
    method reset (line 1264) | def reset(
    method apply_cache_swap_if_pending_barrier (line 1289) | def apply_cache_swap_if_pending_barrier(self, accelerator=None) -> bool:
    method compute (line 1344) | def compute(self, dt: float):
    method _update_ref_motion_state (line 1354) | def _update_ref_motion_state(self):
    method _update_ref_motion_state_from_cache (line 1358) | def _update_ref_motion_state_from_cache(
    method _get_ref_state_array (line 1365) | def _get_ref_state_array(
    method get_ref_motion_filter_cutoff_hz_cur (line 1393) | def get_ref_motion_filter_cutoff_hz_cur(self) -> torch.Tensor:
    method _uniform_sample_ref_start_frames (line 1405) | def _uniform_sample_ref_start_frames(self, env_ids: torch.Tensor):
    method get_ref_motion_dof_pos_fut (line 1438) | def get_ref_motion_dof_pos_fut(
    method _get_immediate_next_ref_state_array (line 1445) | def _get_immediate_next_ref_state_array(
    method get_ref_motion_dof_vel_fut (line 1457) | def get_ref_motion_dof_vel_fut(
    method get_ref_motion_root_global_pos_fut (line 1464) | def get_ref_motion_root_global_pos_fut(
    method get_ref_motion_root_global_rot_quat_xyzw_fut (line 1471) | def get_ref_motion_root_global_rot_quat_xyzw_fut(
    method get_ref_motion_root_global_rot_quat_wxyz_fut (line 1477) | def get_ref_motion_root_global_rot_quat_wxyz_fut(
    method get_ref_motion_root_global_lin_vel_fut (line 1485) | def get_ref_motion_root_global_lin_vel_fut(
    method get_ref_motion_root_global_ang_vel_fut (line 1492) | def get_ref_motion_root_global_ang_vel_fut(
    method get_ref_motion_bodylink_global_pos_fut (line 1499) | def get_ref_motion_bodylink_global_pos_fut(
    method get_ref_motion_bodylink_rel_pos_cur (line 1509) | def get_ref_motion_bodylink_rel_pos_cur(
    method get_ref_motion_bodylink_rel_pos_fut (line 1533) | def get_ref_motion_bodylink_rel_pos_fut(
    method get_ref_motion_bodylink_global_rot_xyzw_fut (line 1557) | def get_ref_motion_bodylink_global_rot_xyzw_fut(
    method get_ref_motion_bodylink_global_lin_vel_fut (line 1564) | def get_ref_motion_bodylink_global_lin_vel_fut(
    method get_ref_motion_bodylink_global_ang_vel_fut (line 1571) | def get_ref_motion_bodylink_global_ang_vel_fut(
    method get_ref_motion_dof_pos_cur (line 1578) | def get_ref_motion_dof_pos_cur(
    method get_ref_motion_dof_pos_immediate_next (line 1585) | def get_ref_motion_dof_pos_immediate_next(
    method get_immediate_next_two_dof_pos (line 1592) | def get_immediate_next_two_dof_pos(
    method get_ref_motion_dof_pos_cur_urdf_order (line 1605) | def get_ref_motion_dof_pos_cur_urdf_order(
    method get_ref_motion_cur_heading_aligned_root_pos (line 1612) | def get_ref_motion_cur_heading_aligned_root_pos(
    method get_ref_motion_fut_heading_aligned_root_pos (line 1631) | def get_ref_motion_fut_heading_aligned_root_pos(
    method get_ref_motion_cur_heading_aligned_root_rot6d (line 1656) | def get_ref_motion_cur_heading_aligned_root_rot6d(
    method get_ref_motion_fut_heading_aligned_root_rot6d (line 1686) | def get_ref_motion_fut_heading_aligned_root_rot6d(
    method get_ref_motion_cur_heading_aligned_root_lin_vel (line 1721) | def get_ref_motion_cur_heading_aligned_root_lin_vel(
    method get_ref_motion_fut_heading_aligned_root_lin_vel (line 1740) | def get_ref_motion_fut_heading_aligned_root_lin_vel(
    method get_ref_motion_cur_heading_aligned_root_ang_vel (line 1763) | def get_ref_motion_cur_heading_aligned_root_ang_vel(
    method get_ref_motion_fut_heading_aligned_root_ang_vel (line 1782) | def get_ref_motion_fut_heading_aligned_root_ang_vel(
    method robot_dof_pos_cur_urdf_order (line 1806) | def robot_dof_pos_cur_urdf_order(self):
    method get_ref_motion_dof_vel_cur (line 1809) | def get_ref_motion_dof_vel_cur(
    method get_ref_motion_dof_vel_immediate_next (line 1816) | def get_ref_motion_dof_vel_immediate_next(
    method robot_dof_vel_cur_urdf_order (line 1824) | def robot_dof_vel_cur_urdf_order(self):
    method get_ref_motion_dof_vel_cur_urdf_order (line 1827) | def get_ref_motion_dof_vel_cur_urdf_order(
    method get_ref_motion_root_global_pos_cur (line 1834) | def get_ref_motion_root_global_pos_cur(
    method get_ref_motion_root_global_pos_immediate_next (line 1841) | def get_ref_motion_root_global_pos_immediate_next(
    method get_ref_motion_root_global_rot_quat_xyzw_cur (line 1848) | def get_ref_motion_root_global_rot_quat_xyzw_cur(
    method get_ref_motion_root_global_rot_quat_xyzw_immediate_next (line 1854) | def get_ref_motion_root_global_rot_quat_xyzw_immediate_next(
    method get_ref_motion_root_global_rot_quat_wxyz_cur (line 1860) | def get_ref_motion_root_global_rot_quat_wxyz_cur(
    method get_ref_motion_root_global_rot_quat_wxyz_immediate_next (line 1868) | def get_ref_motion_root_global_rot_quat_wxyz_immediate_next(
    method get_ref_motion_root_global_lin_vel_cur (line 1876) | def get_ref_motion_root_global_lin_vel_cur(
    method get_ref_motion_root_global_lin_vel_immediate_next (line 1883) | def get_ref_motion_root_global_lin_vel_immediate_next(
    method ref_motion_root_global_lin_vel_cur (line 1890) | def ref_motion_root_global_lin_vel_cur(self) -> torch.Tensor:
    method get_ref_motion_root_global_ang_vel_cur (line 1893) | def get_ref_motion_root_global_ang_vel_cur(
    method get_ref_motion_root_global_ang_vel_immediate_next (line 1900) | def get_ref_motion_root_global_ang_vel_immediate_next(
    method get_ref_motion_gravity_projection_cur (line 1906) | def get_ref_motion_gravity_projection_cur(
    method get_ref_motion_gravity_projection_immediate_next (line 1917) | def get_ref_motion_gravity_projection_immediate_next(
    method get_ref_motion_gravity_projection_fut (line 1929) | def get_ref_motion_gravity_projection_fut(
    method get_ref_motion_base_linvel_cur (line 1945) | def get_ref_motion_base_linvel_cur(
    method get_ref_motion_base_linvel_immediate_next (line 1960) | def get_ref_motion_base_linvel_immediate_next(
    method get_ref_motion_base_linvel_fut (line 1978) | def get_ref_motion_base_linvel_fut(
    method get_ref_motion_base_angvel_cur (line 1993) | def get_ref_motion_base_angvel_cur(
    method get_ref_motion_base_angvel_immediate_next (line 2008) | def get_ref_motion_base_angvel_immediate_next(
    method get_ref_motion_base_angvel_fut (line 2026) | def get_ref_motion_base_angvel_fut(
    method get_ref_motion_bodylink_global_pos_cur (line 2041) | def get_ref_motion_bodylink_global_pos_cur(
    method get_ref_motion_bodylink_global_pos_immediate_next (line 2051) | def get_ref_motion_bodylink_global_pos_immediate_next(
    method get_ref_motion_bodylink_global_pos_cur_urdf_order (line 2061) | def get_ref_motion_bodylink_global_pos_cur_urdf_order(
    method get_ref_motion_bodylink_global_rot_wxyz_cur (line 2068) | def get_ref_motion_bodylink_global_rot_wxyz_cur(
    method get_ref_motion_bodylink_global_rot_xyzw_cur (line 2077) | def get_ref_motion_bodylink_global_rot_xyzw_cur(
    method get_ref_motion_bodylink_global_rot_xyzw_immediate_next (line 2084) | def get_ref_motion_bodylink_global_rot_xyzw_immediate_next(
    method get_ref_motion_bodylink_global_rot_wxyz_immediate_next (line 2091) | def get_ref_motion_bodylink_global_rot_wxyz_immediate_next(
    method get_ref_motion_bodylink_global_rot_xyzw_cur_urdf_order (line 2100) | def get_ref_motion_bodylink_global_rot_xyzw_cur_urdf_order(
    method robot_bodylink_global_pos_cur_urdf_order (line 2108) | def robot_bodylink_global_pos_cur_urdf_order(self):
    method robot_bodylink_global_rot_wxyz_cur_urdf_order (line 2112) | def robot_bodylink_global_rot_wxyz_cur_urdf_order(self):
    method robot_bodylink_global_rot_xyzw_cur_urdf_order (line 2116) | def robot_bodylink_global_rot_xyzw_cur_urdf_order(self):
    method robot_bodylink_global_lin_vel_cur_urdf_order (line 2122) | def robot_bodylink_global_lin_vel_cur_urdf_order(self):
    method robot_bodylink_global_ang_vel_cur_urdf_order (line 2126) | def robot_bodylink_global_ang_vel_cur_urdf_order(self):
    method get_ref_motion_bodylink_global_lin_vel_cur (line 2129) | def get_ref_motion_bodylink_global_lin_vel_cur(
    method get_ref_motion_bodylink_global_lin_vel_immediate_next (line 2136) | def get_ref_motion_bodylink_global_lin_vel_immediate_next(
    method get_ref_motion_bodylink_global_lin_vel_cur_urdf_order (line 2143) | def get_ref_motion_bodylink_global_lin_vel_cur_urdf_order(
    method get_ref_motion_bodylink_global_ang_vel_cur (line 2150) | def get_ref_motion_bodylink_global_ang_vel_cur(
    method get_ref_motion_bodylink_global_ang_vel_immediate_next (line 2157) | def get_ref_motion_bodylink_global_ang_vel_immediate_next(
    method get_ref_motion_bodylink_global_ang_vel_cur_urdf_order (line 2164) | def get_ref_motion_bodylink_global_ang_vel_cur_urdf_order(
    method _build_amp_obs_from_ref_state (line 2171) | def _build_amp_obs_from_ref_state(
    method get_ref_motion_amp_obs_cur (line 2266) | def get_ref_motion_amp_obs_cur(
    method motion_end_mask (line 2273) | def motion_end_mask(self) -> torch.Tensor:
    method global_robot_anchor_pos_cur (line 2283) | def global_robot_anchor_pos_cur(self):
    method get_ref_motion_anchor_bodylink_global_pos_cur (line 2286) | def get_ref_motion_anchor_bodylink_global_pos_cur(
    method get_ref_motion_anchor_bodylink_global_rot_wxyz_cur (line 2293) | def get_ref_motion_anchor_bodylink_global_rot_wxyz_cur(
    method get_ref_motion_anchor_bodylink_global_pos_immediate_next (line 2300) | def get_ref_motion_anchor_bodylink_global_pos_immediate_next(
    method get_ref_motion_anchor_bodylink_global_rot_wxyz_immediate_next (line 2309) | def get_ref_motion_anchor_bodylink_global_rot_wxyz_immediate_next(
    method _get_obs_bydmmc_ref_motion (line 2318) | def _get_obs_bydmmc_ref_motion(
    method _get_obs_bydmmc_ref_motion_fut (line 2333) | def _get_obs_bydmmc_ref_motion_fut(
    method _get_obs_vr_ref_motion_states (line 2352) | def _get_obs_vr_ref_motion_states(
    method _get_obs_vr_ref_motion_fut (line 2372) | def _get_obs_vr_ref_motion_fut(
    method _get_obs_holomotion_rel_ref_motion_flat (line 2393) | def _get_obs_holomotion_rel_ref_motion_flat(
    method _resample_command (line 2540) | def _resample_command(self, env_ids: Sequence[int], eval=False):
    method _filter_env_ids_for_motion_task (line 2577) | def _filter_env_ids_for_motion_task(
    method _align_root_to_ref (line 2608) | def _align_root_to_ref(self, env_ids):
    method _align_dof_to_ref (line 2679) | def _align_dof_to_ref(self, env_ids):
    method force_realign_root_state_to_ref_no_perturb (line 2711) | def force_realign_root_state_to_ref_no_perturb(self, env_ids) -> None:
    method force_realign_dof_state_to_ref_no_perturb (line 2740) | def force_realign_dof_state_to_ref_no_perturb(self, env_ids) -> None:
    method force_realign_offline_eval_no_perturb (line 2766) | def force_realign_offline_eval_no_perturb(self, env_ids) -> None:
    method _update_command (line 2770) | def _update_command(self):
    method _resample_when_motion_end_cache (line 2794) | def _resample_when_motion_end_cache(self):
    method _update_metrics (line 2835) | def _update_metrics(self):
    method _update_mpjpe_metrics (line 2843) | def _update_mpjpe_metrics(self):
    method _update_mpkpe_metrics (line 2890) | def _update_mpkpe_metrics(self):
    method get_wholebody_mpjpe (line 2939) | def get_wholebody_mpjpe(
    method get_wholebody_mpkpe (line 2949) | def get_wholebody_mpkpe(
    method get_current_motion_keys (line 2959) | def get_current_motion_keys(
    method _set_debug_vis_impl (line 2974) | def _set_debug_vis_impl(self, debug_vis: bool):
    method setup_offline_eval_from_frame_zero (line 2989) | def setup_offline_eval_from_frame_zero(self):
    method setup_offline_eval_deterministic (line 3001) | def setup_offline_eval_deterministic(
    method _debug_vis_callback (line 3032) | def _debug_vis_callback(self, event):
  class MotionCommandCfg (line 3083) | class MotionCommandCfg(CommandTermCfg):
  class MoTrack_CommandsCfg (line 3136) | class MoTrack_CommandsCfg:
  function build_motion_tracking_commands_config (line 3140) | def build_motion_tracking_commands_config(command_config_dict: dict):

FILE: holomotion/src/env/isaaclab_components/isaaclab_observation.py
  function _build_noise_cfg (line 63) | def _build_noise_cfg(noise_cfg):
  class MirrorFunctions (line 89) | class MirrorFunctions:
    method mirror_dof (line 93) | def mirror_dof(
    method mirror_action (line 110) | def mirror_action(
    method mirror_vec3 (line 117) | def mirror_vec3(x: torch.Tensor) -> torch.Tensor:
    method mirror_axial_vec3 (line 129) | def mirror_axial_vec3(x: torch.Tensor) -> torch.Tensor:
    method mirror_velocity_command (line 141) | def mirror_velocity_command(x: torch.Tensor) -> torch.Tensor:
  class ObservationFunctions (line 159) | class ObservationFunctions:
    method _get_body_indices (line 168) | def _get_body_indices(
    method _slice_future_frames (line 194) | def _slice_future_frames(
    method _get_obs_head_pos_quat_vel (line 220) | def _get_obs_head_pos_quat_vel(
    method _get_obs_rel_headlink_lin_vel (line 309) | def _get_obs_rel_headlink_lin_vel(
    method _get_obs_rel_headlink_ang_vel (line 388) | def _get_obs_rel_headlink_ang_vel(
    method _get_obs_global_robot_root_pos (line 453) | def _get_obs_global_robot_root_pos(env: ManagerBasedRLEnv):
    method _get_obs_global_robot_root_rot_wxyz (line 462) | def _get_obs_global_robot_root_rot_wxyz(env: ManagerBasedRLEnv):
    method _get_obs_global_robot_root_rot_xyzw (line 467) | def _get_obs_global_robot_root_rot_xyzw(env: ManagerBasedRLEnv):
    method _get_obs_global_robot_root_rot_mat (line 474) | def _get_obs_global_robot_root_rot_mat(env: ManagerBasedRLEnv):
    method _get_obs_global_robot_root_lin_vel (line 481) | def _get_obs_global_robot_root_lin_vel(env: ManagerBasedRLEnv):
    method _get_obs_global_robot_root_ang_vel (line 486) | def _get_obs_global_robot_root_ang_vel(env: ManagerBasedRLEnv):
    method _get_obs_rel_robot_root_lin_vel (line 491) | def _get_obs_rel_robot_root_lin_vel(env: ManagerBasedRLEnv):
    method _get_obs_rel_robot_root_ang_vel (line 496) | def _get_obs_rel_robot_root_ang_vel(env: ManagerBasedRLEnv):
    method _get_obs_rel_anchor_lin_vel (line 501) | def _get_obs_rel_anchor_lin_vel(
    method _get_obs_projected_gravity (line 524) | def _get_obs_projected_gravity(
    method _get_obs_global_robot_root_yaw (line 547) | def _get_obs_global_robot_root_yaw(
    method _get_obs_robot_root_heading_aligned_quat (line 557) | def _get_obs_robot_root_heading_aligned_quat(
    method _get_obs_rel_robot_root_roll_pitch (line 577) | def _get_obs_rel_robot_root_roll_pitch(
    method _get_obs_global_robot_bodylink_pos (line 599) | def _get_obs_global_robot_bodylink_pos(
    method _get_obs_global_robot_bodylink_rot_wxyz (line 621) | def _get_obs_global_robot_bodylink_rot_wxyz(
    method _get_obs_global_robot_bodylink_rot_xyzw (line 635) | def _get_obs_global_robot_bodylink_rot_xyzw(
    method _get_obs_global_robot_bodylink_rot_mat (line 648) | def _get_obs_global_robot_bodylink_rot_mat(
    method _get_obs_global_robot_bodylink_lin_vel (line 666) | def _get_obs_global_robot_bodylink_lin_vel(
    method _get_obs_global_robot_bodylink_ang_vel (line 680) | def _get_obs_global_robot_bodylink_ang_vel(
    method _get_obs_root_rel_robot_bodylink_pos (line 694) | def _get_obs_root_rel_robot_bodylink_pos(
    method _get_obs_root_rel_robot_bodylink_rot_wxyz (line 721) | def _get_obs_root_rel_robot_bodylink_rot_wxyz(
    method _get_obs_root_rel_robot_bodylink_rot_xyzw (line 751) | def _get_obs_root_rel_robot_bodylink_rot_xyzw(
    method _get_obs_root_rel_robot_bodylink_rot_mat (line 764) | def _get_obs_root_rel_robot_bodylink_rot_mat(
    method _get_obs_root_rel_robot_bodylink_lin_vel (line 781) | def _get_obs_root_rel_robot_bodylink_lin_vel(
    method _get_obs_root_rel_robot_bodylink_ang_vel (line 816) | def _get_obs_root_rel_robot_bodylink_ang_vel(
    method _get_obs_global_robot_bodylink_pos_flat (line 852) | def _get_obs_global_robot_bodylink_pos_flat(
    method _get_obs_global_robot_bodylink_rot_wxyz_flat (line 866) | def _get_obs_global_robot_bodylink_rot_wxyz_flat(
    method _get_obs_global_robot_bodylink_rot_xyzw_flat (line 882) | def _get_obs_global_robot_bodylink_rot_xyzw_flat(
    method _get_obs_global_robot_bodylink_rot_mat_flat (line 898) | def _get_obs_global_robot_bodylink_rot_mat_flat(
    method _get_obs_global_robot_bodylink_lin_vel_flat (line 914) | def _get_obs_global_robot_bodylink_lin_vel_flat(
    method _get_obs_global_robot_bodylink_ang_vel_flat (line 930) | def _get_obs_global_robot_bodylink_ang_vel_flat(
    method _get_obs_root_rel_robot_bodylink_pos_flat (line 946) | def _get_obs_root_rel_robot_bodylink_pos_flat(
    method _get_obs_root_rel_robot_bodylink_rot_wxyz_flat (line 962) | def _get_obs_root_rel_robot_bodylink_rot_wxyz_flat(
    method _get_obs_root_rel_robot_bodylink_rot_xyzw_flat (line 978) | def _get_obs_root_rel_robot_bodylink_rot_xyzw_flat(
    method _get_obs_root_rel_robot_bodylink_rot_mat_flat (line 994) | def _get_obs_root_rel_robot_bodylink_rot_mat_flat(
    method _get_obs_root_rel_robot_bodylink_lin_vel_flat (line 1010) | def _get_obs_root_rel_robot_bodylink_lin_vel_flat(
    method _get_obs_root_rel_robot_bodylink_ang_vel_flat (line 1026) | def _get_obs_root_rel_robot_bodylink_ang_vel_flat(
    method _get_obs_dof_pos (line 1043) | def _get_obs_dof_pos(env: ManagerBasedRLEnv):
    method _get_obs_dof_vel (line 1048) | def _get_obs_dof_vel(env: ManagerBasedRLEnv):
    method _get_obs_last_actions (line 1053) | def _get_obs_last_actions(env: ManagerBasedRLEnv):
    method _get_obs_ref_motion_states (line 1059) | def _get_obs_ref_motion_states(
    method _get_obs_ref_motion_states_fut (line 1071) | def _get_obs_ref_motion_states_fut(
    method _get_obs_vr_ref_motion_states (line 1083) | def _get_obs_vr_ref_motion_states(
    method _get_obs_vr_ref_motion_states_fut (line 1092) | def _get_obs_vr_ref_motion_states_fut(
    method _get_obs_ref_dof_pos_cur (line 1102) | def _get_obs_ref_dof_pos_cur(
    method _get_obs_immediate_next_two_dof_pos (line 1112) | def _get_obs_immediate_next_two_dof_pos(
    method _get_obs_ref_motion_cur_heading_aligned_root_pos (line 1122) | def _get_obs_ref_motion_cur_heading_aligned_root_pos(
    method _get_obs_ref_motion_fut_heading_aligned_root_pos (line 1134) | def _get_obs_ref_motion_fut_heading_aligned_root_pos(
    method _get_obs_ref_motion_cur_heading_aligned_root_rot6d (line 1146) | def _get_obs_ref_motion_cur_heading_aligned_root_rot6d(
    method _get_obs_ref_motion_fut_heading_aligned_root_rot6d (line 1158) | def _get_obs_ref_motion_fut_heading_aligned_root_rot6d(
    method _get_obs_ref_motion_cur_heading_aligned_root_lin_vel (line 1170) | def _get_obs_ref_motion_cur_heading_aligned_root_lin_vel(
    method _get_obs_ref_motion_fut_heading_aligned_root_lin_vel (line 1182) | def _get_obs_ref_motion_fut_heading_aligned_root_lin_vel(
    method _get_obs_ref_motion_cur_heading_aligned_root_ang_vel (line 1194) | def _get_obs_ref_motion_cur_heading_aligned_root_ang_vel(
    method _get_obs_ref_motion_fut_heading_aligned_root_ang_vel (line 1206) | def _get_obs_ref_motion_fut_heading_aligned_root_ang_vel(
    method _get_obs_ref_dof_vel_cur (line 1218) | def _get_obs_ref_dof_vel_cur(
    method _get_obs_ref_motion_filter_cutoff_hz (line 1228) | def _get_obs_ref_motion_filter_cutoff_hz(
    method _get_obs_ref_root_height_cur (line 1237) | def _get_obs_ref_root_height_cur(
    method _get_obs_ref_dof_pos_fut (line 1253) | def _get_obs_ref_dof_pos_fut(
    method _get_obs_ref_gravity_projection_cur (line 1272) | def _get_obs_ref_gravity_projection_cur(
    method _get_obs_ref_gravity_projection_fut (line 1285) | def _get_obs_ref_gravity_projection_fut(
    method _get_obs_ref_base_linvel_cur (line 1304) | def _get_obs_ref_base_linvel_cur(
    method _get_obs_ref_base_linvel_fut (line 1315) | def _get_obs_ref_base_linvel_fut(
    method _get_obs_ref_base_angvel_cur (line 1332) | def _get_obs_ref_base_angvel_cur(
    method _get_obs_ref_keybody_rel_pos_cur (line 1343) | def _get_obs_ref_keybody_rel_pos_cur(
    method _get_obs_ref_keybody_rel_pos_fut (line 1365) | def _get_obs_ref_keybody_rel_pos_fut(
    method _get_obs_ref_base_angvel_fut (line 1393) | def _get_obs_ref_base_angvel_fut(
    method _get_obs_ref_dof_vel_fut (line 1410) | def _get_obs_ref_dof_vel_fut(
    method _get_obs_ref_root_height_fut (line 1430) | def _get_obs_ref_root_height_fut(
    method _get_obs_global_anchor_diff (line 1453) | def _get_obs_global_anchor_diff(
    method _get_obs_global_anchor_pos_diff (line 1497) | def _get_obs_global_anchor_pos_diff(
    method _get_obs_global_anchor_rot_diff (line 1534) | def _get_obs_global_anchor_rot_diff(
    method _get_obs_velocity_command (line 1572) | def _get_obs_velocity_command(
    method _get_obs_place_holder (line 1603) | def _get_obs_place_holder(env: ManagerBasedRLEnv, n_dim: int):
    method _get_obs_ref_headling_aligned_vel_cmd (line 1607) | def _get_obs_ref_headling_aligned_vel_cmd(
    method _get_obs_heading_aligned_root_ang_vel (line 1636) | def _get_obs_heading_aligned_root_ang_vel(env: ManagerBasedRLEnv):
  class ObservationsCfg (line 1651) | class ObservationsCfg:
  function build_observations_config (line 1655) | def build_observations_config(obs_config_dict: dict):

FILE: holomotion/src/env/isaaclab_components/isaaclab_rewards.py
  function _joint_ids_to_tensor (line 46) | def _joint_ids_to_tensor(
  function _select_effort_limit_vector (line 65) | def _select_effort_limit_vector(
  function key_dof_position_tracking_exp (line 132) | def key_dof_position_tracking_exp(
  function key_dof_velocity_tracking_exp (line 154) | def key_dof_velocity_tracking_exp(
  function motion_global_anchor_position_error_exp (line 176) | def motion_global_anchor_position_error_exp(
  function motion_global_anchor_orientation_error_exp (line 196) | def motion_global_anchor_orientation_error_exp(
  function motion_relative_body_position_error_exp (line 218) | def motion_relative_body_position_error_exp(
  function root_rel_keybodylink_pos_tracking_l2_exp (line 302) | def root_rel_keybodylink_pos_tracking_l2_exp(
  function motion_relative_body_orientation_error_exp (line 364) | def motion_relative_body_orientation_error_exp(
  function motion_global_body_linear_velocity_error_exp (line 432) | def motion_global_body_linear_velocity_error_exp(
  function motion_global_body_angular_velocity_error_exp (line 454) | def motion_global_body_angular_velocity_error_exp(
  function root_pos_xy_tracking_exp (line 476) | def root_pos_xy_tracking_exp(
  function root_rot_tracking_exp (line 495) | def root_rot_tracking_exp(
  function root_pos_rel_z_tracking_exp (line 517) | def root_pos_rel_z_tracking_exp(
  function root_lin_vel_tracking_l2_exp (line 533) | def root_lin_vel_tracking_l2_exp(
  function root_ang_vel_tracking_l2_exp (line 575) | def root_ang_vel_tracking_l2_exp(
  function root_rel_keybodylink_pos_tracking_l2_exp_bydmmc_style (line 617) | def root_rel_keybodylink_pos_tracking_l2_exp_bydmmc_style(
  function root_rel_keybodylink_rot_tracking_l2_exp (line 695) | def root_rel_keybodylink_rot_tracking_l2_exp(
  function root_rel_keybodylink_lin_vel_tracking_l2_exp (line 751) | def root_rel_keybodylink_lin_vel_tracking_l2_exp(
  function root_rel_keybodylink_ang_vel_tracking_l2_exp (line 861) | def root_rel_keybodylink_ang_vel_tracking_l2_exp(
  function global_keybodylink_lin_vel_tracking_l2_exp (line 926) | def global_keybodylink_lin_vel_tracking_l2_exp(
  function global_keybodylink_ang_vel_tracking_l2_exp (line 953) | def global_keybodylink_ang_vel_tracking_l2_exp(
  function feet_contact_time (line 981) | def feet_contact_time(
  function track_lin_vel_xy_yaw_frame_exp (line 997) | def track_lin_vel_xy_yaw_frame_exp(
  function feet_slide (line 1026) | def feet_slide(
  function feet_slide_ang_vel (line 1045) | def feet_slide_ang_vel(
  function foot_clearance_reward (line 1064) | def foot_clearance_reward(
  function feet_gait (line 1106) | def feet_gait(
  function joint_deviation_l2 (line 1152) | def joint_deviation_l2(
  function energy (line 1175) | def energy(
  function positive_work (line 1187) | def positive_work(
  class normed_positive_work (line 1206) | class normed_positive_work(ManagerTermBase):
    method __init__ (line 1209) | def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv):
    method _maybe_build_cache (line 1215) | def _maybe_build_cache(
    method __call__ (line 1245) | def __call__(
  class normed_torque_rate (line 1274) | class normed_torque_rate(ManagerTermBase):
    method __init__ (line 1277) | def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv):
    method reset (line 1287) | def reset(self, env_ids=None) -> None:
    method _maybe_build_cache (line 1299) | def _maybe_build_cache(
    method __call__ (line 1342) | def __call__(
  function track_stand_still_exp (line 1379) | def track_stand_still_exp(
  function stand_still_joint_deviation_l1 (line 1404) | def stand_still_joint_deviation_l1(
  function stand_still_action_rate (line 1430) | def stand_still_action_rate(
  function stand_still_dof_vel_l2 (line 1449) | def stand_still_dof_vel_l2(
  class action_acc (line 1467) | class action_acc(ManagerTermBase):
    method __init__ (line 1470) | def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv):
    method reset (line 1481) | def reset(self, env_ids=None) -> None:
    method _maybe_build_cache (line 1496) | def _maybe_build_cache(
    method __call__ (line 1528) | def __call__(self, env: ManagerBasedRLEnv) -> torch.Tensor:
  function feet_stumble (line 1572) | def feet_stumble(
  function feet_too_near (line 1588) | def feet_too_near(
  function feet_contact_without_cmd (line 1599) | def feet_contact_without_cmd(
  function torso_xy_ang_vel_l2_penalty (line 1621) | def torso_xy_ang_vel_l2_penalty(
  function torso_upright_l2_penalty (line 1658) | def torso_upright_l2_penalty(
  function torso_upright_l2_penalty_v2 (line 1696) | def torso_upright_l2_penalty_v2(
  function stand_still_torso_upright_exp_v2 (line 1739) | def stand_still_torso_upright_exp_v2(
  function torso_linacc_xy_l2_penalty (line 1773) | def torso_linacc_xy_l2_penalty(
  function track_lin_vel_xy_heading_aligned_frame_exp (line 1809) | def track_lin_vel_xy_heading_aligned_frame_exp(
  function track_lin_vel_xy_heading_aligned_frame_exp_v2 (line 1840) | def track_lin_vel_xy_heading_aligned_frame_exp_v2(
  function track_ang_vel_z_heading_aligned_frame_exp_v2 (line 1878) | def track_ang_vel_z_heading_aligned_frame_exp_v2(
  function track_ang_vel_z_heading_aligned_frame_exp (line 1912) | def track_ang_vel_z_heading_aligned_frame_exp(
  function smoothed_track_ang_vel_z_heading_aligned_frame_exp (line 1933) | def smoothed_track_ang_vel_z_heading_aligned_frame_exp(
  function feet_air_time (line 1963) | def feet_air_time(
  function feet_air_time_v2 (line 1989) | def feet_air_time_v2(
  function feet_air_time_v3 (line 2020) | def feet_air_time_v3(
  function feet_air_time_v4 (line 2055) | def feet_air_time_v4(
  function yaw_rate_only_movement_l2_penalty (line 2085) | def yaw_rate_only_movement_l2_penalty(
  function fly (line 2116) | def fly(
  function stand_still_torso_lin_vel_l2_penalty (line 2133) | def stand_still_torso_lin_vel_l2_penalty(
  function stand_still_torso_ang_vel_l2_penalty (line 2147) | def stand_still_torso_ang_vel_l2_penalty(
  function stand_still_torso_lin_vel_exp (line 2161) | def stand_still_torso_lin_vel_exp(
  function stand_still_torso_ang_vel_exp (line 2190) | def stand_still_torso_ang_vel_exp(
  function yaw_rate_only_movement_exp (line 2219) | def yaw_rate_only_movement_exp(
  function yaw_rate_only_hip_yaw_usage_exp (line 2249) | def yaw_rate_only_hip_yaw_usage_exp(
  class RewardsCfg (line 2301) | class RewardsCfg:
  class TaskGatedReward (line 2305) | class TaskGatedReward:
    method __init__ (line 2308) | def __init__(self, func, task_name: str):
    method __call__ (line 2313) | def __call__(self, env: ManagerBasedRLEnv, *args, **kwargs):
  function build_rewards_config (line 2337) | def build_rewards_config(reward_config_dict: dict):

FILE: holomotion/src/env/isaaclab_components/isaaclab_scene.py
  class SceneFunctions (line 43) | class SceneFunctions:
    method build_robot_config (line 47) | def build_robot_config(
    method build_lighting_config (line 203) | def build_lighting_config(
    method build_contact_sensor_config (line 229) | def build_contact_sensor_config(config: dict) -> ContactSensorCfg:
  class MotionTrackingSceneCfg (line 247) | class MotionTrackingSceneCfg(InteractiveSceneCfg):
  function build_scene_config (line 253) | def build_scene_config(
  function _cfg_to_kwargs (line 325) | def _cfg_to_kwargs(cfg: object) -> dict:
  function _build_unitree_actuator_cfg (line 333) | def _build_unitree_actuator_cfg(

FILE: holomotion/src/env/isaaclab_components/isaaclab_simulator.py
  function build_simulator_config (line 21) | def build_simulator_config(sim_config_dict: dict) -> SimulationCfg:

FILE: holomotion/src/env/isaaclab_components/isaaclab_termination.py
  function _list_supported_terminations (line 33) | def _list_supported_terminations() -> list[str]:
  function _resolve_termination_func (line 54) | def _resolve_termination_func(name: str):
  function global_bodylink_pos_far (line 69) | def global_bodylink_pos_far(
  function anchor_ref_z_far (line 102) | def anchor_ref_z_far(
  function ref_gravity_projection_far (line 119) | def ref_gravity_projection_far(
  function keybody_ref_pos_far (line 169) | def keybody_ref_pos_far(
  function keybody_ref_z_far (line 202) | def keybody_ref_z_far(
  function wholebody_mpjpe_far (line 235) | def wholebody_mpjpe_far(
  function motion_end (line 253) | def motion_end(
  class TerminationsCfg (line 269) | class TerminationsCfg:
  function build_terminations_config (line 273) | def build_terminations_config(

FILE: holomotion/src/env/isaaclab_components/isaaclab_terrain.py
  function _convert_range_like_params (line 36) | def _convert_range_like_params(params: dict) -> dict:
  function plane_terrain (line 54) | def plane_terrain(difficulty: float, cfg: HfTerrainBaseCfg) -> np.ndarray:
  class HfPlaneTerrainCfg (line 67) | class HfPlaneTerrainCfg(HfTerrainBaseCfg):
  class RandomSpawnTerrainImporter (line 73) | class RandomSpawnTerrainImporter(TerrainImporter):
    method _compute_env_origins_curriculum (line 80) | def _compute_env_origins_curriculum(
    method update_env_origins (line 166) | def update_env_origins(
  function build_terrain_config (line 214) | def build_terrain_config(

FILE: holomotion/src/env/isaaclab_components/isaaclab_utils.py
  function _get_dof_indices (line 36) | def _get_dof_indices(
  function _get_body_indices (line 52) | def _get_body_indices(
  function resolve_holo_config (line 79) | def resolve_holo_config(value):

FILE: holomotion/src/env/isaaclab_components/isaaclab_velocity_tracking_command.py
  class HoloMotionUniformVelocityCommand (line 40) | class HoloMotionUniformVelocityCommand(CommandTerm):
    method __init__ (line 61) | def __init__(
    method __str__ (line 106) | def __str__(self) -> str:
    method command (line 123) | def command(self) -> torch.Tensor:
    method _update_metrics (line 131) | def _update_metrics(self):
    method _resample_command (line 151) | def _resample_command(self, env_ids: Sequence[int]):
    method _update_command (line 178) | def _update_command(self):
    method _set_debug_vis_impl (line 208) | def _set_debug_vis_impl(self, debug_vis: bool):
    method _debug_vis_callback (line 230) | def _debug_vis_callback(self, event):
    method _resolve_xy_velocity_to_arrow (line 258) | def _resolve_xy_velocity_to_arrow(
  class HoloMotionUniformVelocityCommandCfg (line 283) | class HoloMotionUniformVelocityCommandCfg(CommandTermCfg):
    class Ranges (line 323) | class Ranges:
  class VelTrack_CommandsCfg (line 364) | class VelTrack_CommandsCfg:
  function _convert_ranges_dict_to_object (line 368) | def _convert_ranges_dict_to_object(
  function build_velocity_commands_config (line 383) | def build_velocity_commands_config(

FILE: holomotion/src/env/isaaclab_components/unitree_actuators.py
  class UnitreeActuator (line 38) | class UnitreeActuator(DelayedPDActuator):
    method __init__ (line 71) | def __init__(self, cfg: UnitreeActuatorCfg, *args, **kwargs):
    method compute (line 83) | def compute(
    method _clip_effort (line 107) | def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor:
    method _compute_effort_limit (line 121) | def _compute_effort_limit(self, max_effort):
  class UnitreeErfiActuator (line 127) | class UnitreeErfiActuator(UnitreeActuator):
    method __init__ (line 137) | def __init__(self, cfg: UnitreeErfiActuatorCfg, *args, **kwargs):
    method reset (line 164) | def reset(self, env_ids: Sequence[int] | slice | None):
    method compute (line 204) | def compute(
    method _filter_joint_position_action (line 236) | def _filter_joint_position_action(
    method _maybe_dump_ema_filter_debug_verification (line 273) | def _maybe_dump_ema_filter_debug_verification(
    method _maybe_dump_ema_filter_debug_skip (line 327) | def _maybe_dump_ema_filter_debug_skip(self, reason: str) -> None:
    method _maybe_dump_ema_filter_debug_payload (line 335) | def _maybe_dump_ema_filter_debug_payload(self, payload: dict) -> None:
    method _parse_bool_env (line 364) | def _parse_bool_env(name: str, default: bool) -> bool:
    method _env_ids_to_tensor (line 370) | def _env_ids_to_tensor(
    method _sample_uniform (line 379) | def _sample_uniform(
  class UnitreeActuatorCfg (line 386) | class UnitreeActuatorCfg(DelayedPDActuatorCfg):
  class UnitreeErfiActuatorCfg (line 416) | class UnitreeErfiActuatorCfg(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_M107_15 (line 453) | class UnitreeActuatorCfg_M107_15(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_M107_24 (line 463) | class UnitreeActuatorCfg_M107_24(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_Go2HV (line 473) | class UnitreeActuatorCfg_Go2HV(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_N7520_14p3 (line 481) | class UnitreeActuatorCfg_N7520_14p3(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_N7520_22p5 (line 500) | class UnitreeActuatorCfg_N7520_22p5(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_N5010_16 (line 519) | class UnitreeActuatorCfg_N5010_16(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_N5020_16 (line 534) | class UnitreeActuatorCfg_N5020_16(UnitreeActuatorCfg):
  class UnitreeActuatorCfg_W4010_25 (line 552) | class UnitreeActuatorCfg_W4010_25(UnitreeActuatorCfg):

FILE: holomotion/src/env/motion_tracking.py
  function _joint_ids_to_tensor (line 80) | def _joint_ids_to_tensor(
  function _select_effort_limit_vector (line 98) | def _select_effort_limit_vector(
  class MotionTrackingEnv (line 164) | class MotionTrackingEnv:
    method __init__ (line 175) | def __init__(
    method num_envs (line 216) | def num_envs(self):
    method device (line 220) | def device(self):
    method _init_isaaclab_env (line 223) | def _init_isaaclab_env(self):
    method _init_motion_tracking_components (line 467) | def _init_motion_tracking_components(self):
    method step (line 472) | def step(self, actor_state: dict):
    method _update_robot_metrics (line 482) | def _update_robot_metrics(self, infos: dict) -> None:
    method _update_completion_rate_stats (line 563) | def _update_completion_rate_stats(
    method reset_idx (line 603) | def reset_idx(self, env_ids: torch.Tensor):
    method reset_all (line 606) | def reset_all(self):
    method set_is_evaluating (line 611) | def set_is_evaluating(self):
    method seed (line 615) | def seed(self, seed: int):

FILE: holomotion/src/env/velocity_tracking.py
  class VelocityTrackingEnv (line 78) | class VelocityTrackingEnv:
    method __init__ (line 89) | def __init__(
    method num_envs (line 127) | def num_envs(self):
    method device (line 131) | def device(self):
    method _init_isaaclab_env (line 134) | def _init_isaaclab_env(self):
    method _init_motion_tracking_components (line 366) | def _init_motion_tracking_components(self):
    method step (line 369) | def step(self, actor_state: dict):
    method _update_completion_rate_stats (line 378) | def _update_completion_rate_stats(
    method reset_idx (line 415) | def reset_idx(self, env_ids: torch.Tensor):
    method reset_all (line 418) | def reset_all(self):
    method set_is_evaluating (line 423) | def set_is_evaluating(self):
    method seed (line 427) | def seed(self, seed: int):

FILE: holomotion/src/evaluation/eval_motion_tracking.py
  function find_checkpoints_to_evaluate (line 26) | def find_checkpoints_to_evaluate(
  function main (line 113) | def main(
  function parse_args (line 167) | def parse_args() -> argparse.Namespace:

FILE: holomotion/src/evaluation/eval_motion_tracking_single.py
  function load_training_config (line 31) | def load_training_config(
  function _infer_dataset_suffix (line 85) | def _infer_dataset_suffix(output_dir: str, checkpoint_path: str) -> str:
  function _checkpoint_sort_key (line 94) | def _checkpoint_sort_key(checkpoint_path: Path):
  function _normalize_ckpt_pt_names (line 101) | def _normalize_ckpt_pt_names(ckpt_pt_names) -> list[str]:
  function _resolve_export_ckpt_paths (line 125) | def _resolve_export_ckpt_paths(config: OmegaConf) -> list[Path]:
  function main (line 173) | def main(config: OmegaConf):

FILE: holomotion/src/evaluation/eval_mujoco_sim2sim.py
  function _coerce_config_bool (line 87) | def _coerce_config_bool(value, default: bool = False) -> bool:
  class OffscreenRenderer (line 102) | class OffscreenRenderer:
    method __init__ (line 105) | def __init__(
    method set_overlay_callback (line 140) | def set_overlay_callback(self, callback) -> None:
    method render (line 144) | def render(self, data) -> np.ndarray:
    method set_align_view (line 160) | def set_align_view(
    method close (line 187) | def close(self):
  class VelocityKeyboardHandler (line 191) | class VelocityKeyboardHandler:
    method __init__ (line 194) | def __init__(
    method start_listener (line 219) | def start_listener(self):
    method stop_listener (line 241) | def stop_listener(self):
    method get_velocity_command (line 247) | def get_velocity_command(self) -> np.ndarray:
    method _handle_key (line 256) | def _handle_key(self, char: str):
  class MujocoEvaluator (line 322) | class MujocoEvaluator:
    method __init__ (line 325) | def __init__(self, config):
    method _reset_onnx_io_dump_buffers (line 477) | def _reset_onnx_io_dump_buffers(self):
    method _get_action_ema_filter_cfg (line 483) | def _get_action_ema_filter_cfg(self) -> tuple[bool, float]:
    method _reset_action_ema_filter (line 500) | def _reset_action_ema_filter(self) -> None:
    method _apply_action_ema_filter (line 503) | def _apply_action_ema_filter(self, raw_actions: np.ndarray) -> np.ndar...
    method _get_action_delay_cfg (line 521) | def _get_action_delay_cfg(self) -> tuple[int, str]:
    method _sample_policy_action_delay_step (line 541) | def _sample_policy_action_delay_step(self) -> int:
    method _reset_action_delay_randomization (line 546) | def _reset_action_delay_randomization(self) -> None:
    method _apply_action_delay (line 560) | def _apply_action_delay(self, raw_actions: np.ndarray) -> np.ndarray:
    method _normalize_foot_geom_name_groups (line 588) | def _normalize_foot_geom_name_groups(raw_spec) -> list[list[str]]:
    method _normalize_foot_body_name_groups (line 622) | def _normalize_foot_body_name_groups(raw_spec) -> list[list[str]]:
    method _resolve_foot_geom_ids_from_geom_names (line 661) | def _resolve_foot_geom_ids_from_geom_names(
    method _resolve_foot_geom_ids_from_body_names (line 678) | def _resolve_foot_geom_ids_from_body_names(
    method _init_low_level_foot_contact_logging (line 716) | def _init_low_level_foot_contact_logging(self) -> None:
    method _record_low_level_foot_contact_sample (line 755) | def _record_low_level_foot_contact_sample(self) -> None:
    method _flatten_single_step_output (line 815) | def _flatten_single_step_output(values, *, dtype=None) -> np.ndarray:
    method _discover_policy_moe_outputs (line 823) | def _discover_policy_moe_outputs(self) -> None:
    method _get_stacked_moe_routing_tensors (line 856) | def _get_stacked_moe_routing_tensors(
    method _get_stacked_low_level_foot_contact_tensors (line 868) | def _get_stacked_low_level_foot_contact_tensors(
    method _record_onnx_io_frame (line 894) | def _record_onnx_io_frame(self, input_feed, output_names, onnx_output):
    method _stack_onnx_io_frames (line 916) | def _stack_onnx_io_frames(
    method save_onnx_io_dump (line 927) | def save_onnx_io_dump(self, output_path, meta_info):
    method _find_actor_place_holder_ndim (line 942) | def _find_actor_place_holder_ndim(self):
    method _get_actor_obs_term_params (line 954) | def _get_actor_obs_term_params(self, term_name: str) -> dict:
    method _get_ref_keybody_indices (line 966) | def _get_ref_keybody_indices(self, term_name: str) -> np.ndarray:
    method _to_plain_obs_cfg (line 992) | def _to_plain_obs_cfg(cfg):
    method _get_actor_obs_schema_terms (line 1003) | def _get_actor_obs_schema_terms(self) -> list[str]:
    method _get_actor_atomic_obs_entries (line 1020) | def _get_actor_atomic_obs_entries(self) -> list[tuple[str, str, dict]]:
    method _get_policy_atomic_obs_list (line 1066) | def _get_policy_atomic_obs_list(self):
    method _body_origin_world_velocity (line 1122) | def _body_origin_world_velocity(
    method _get_anchor_body_name (line 1140) | def _get_anchor_body_name(self) -> str:
    method _get_torso_body_name (line 1148) | def _get_torso_body_name(self) -> str:
    method ref_motion_frame_idx (line 1156) | def ref_motion_frame_idx(self):
    method anchor_body_idx (line 1160) | def anchor_body_idx(self) -> int:
    method root_body_idx (line 1166) | def root_body_idx(self) -> int:
    method torso_body_idx (line 1170) | def torso_body_idx(self) -> int:
    method robot_global_bodylink_pos (line 1174) | def robot_global_bodylink_pos(self):
    method robot_global_bodylink_rot (line 1190) | def robot_global_bodylink_rot(self):
    method robot_global_bodylink_lin_vel (line 1208) | def robot_global_bodylink_lin_vel(self):
    method robot_global_bodylink_ang_vel (line 1234) | def robot_global_bodylink_ang_vel(self):
    method robot_dof_pos (line 1261) | def robot_dof_pos(self):
    method robot_dof_vel (line 1267) | def robot_dof_vel(self):
    method _ensure_ref_to_sim_transform_rigid (line 1274) | def _ensure_ref_to_sim_transform_rigid(self):
    method _detect_command_mode (line 1391) | def _detect_command_mode(self) -> str:
    method _init_obs_buffers (line 1405) | def _init_obs_buffers(self):
    method load_policy (line 1415) | def load_policy(self):
    method _read_onnx_metadata (line 1533) | def _read_onnx_metadata(self) -> dict:
    method _apply_onnx_metadata (line 1567) | def _apply_onnx_metadata(self):
    method _build_dof_mappings (line 1576) | def _build_dof_mappings(self):
    method _normalize_filter_cutoff_hz (line 1606) | def _normalize_filter_cutoff_hz(raw_values, num_frames: int) -> np.nda...
    method load_motion_data (line 1635) | def load_motion_data(self):
    method load_mujoco_model (line 1855) | def load_mujoco_model(self):
    method _init_camera_config (line 1871) | def _init_camera_config(self):
    method _configure_viewer_camera (line 1905) | def _configure_viewer_camera(self, viewer):
    method _init_video_tools (line 1912) | def _init_video_tools(self, tag: str):
    method _dump_robot_augmented_npz (line 1959) | def _dump_robot_augmented_npz(self) -> None:
    method _close_video_tools (line 2087) | def _close_video_tools(self):
    method _update_camera_lookat (line 2097) | def _update_camera_lookat(self, cam):
    method _maybe_record_frame (line 2108) | def _maybe_record_frame(self):
    method _apply_control (line 2125) | def _apply_control(self, sleep: bool):
    method _compute_pd_torque_command_ref (line 2173) | def _compute_pd_torque_command_ref(self) -> np.ndarray:
    method _get_obs_ref_motion_states (line 2211) | def _get_obs_ref_motion_states(self):
    method _get_obs_ref_motion_states_fut (line 2225) | def _get_obs_ref_motion_states_fut(self):
    method _get_obs_ref_dof_pos_fut (line 2256) | def _get_obs_ref_dof_pos_fut(self):
    method _get_obs_ref_root_height_fut (line 2277) | def _get_obs_ref_root_height_fut(self):
    method _get_obs_ref_dof_pos_cur (line 2302) | def _get_obs_ref_dof_pos_cur(self):
    method _get_obs_ref_dof_vel_cur (line 2311) | def _get_obs_ref_dof_vel_cur(self):
    method _get_obs_ref_motion_filter_cutoff_hz (line 2320) | def _get_obs_ref_motion_filter_cutoff_hz(self):
    method _get_obs_ref_root_height_cur (line 2334) | def _get_obs_ref_root_height_cur(self):
    method _get_obs_ref_gravity_projection_cur (line 2341) | def _get_obs_ref_gravity_projection_cur(self):
    method _get_obs_ref_gravity_projection_fut (line 2358) | def _get_obs_ref_gravity_projection_fut(self):
    method _get_obs_ref_base_linvel_cur (line 2390) | def _get_obs_ref_base_linvel_cur(self):
    method _get_obs_ref_base_linvel_fut (line 2414) | def _get_obs_ref_base_linvel_fut(self):
    method _get_obs_ref_base_angvel_cur (line 2451) | def _get_obs_ref_base_angvel_cur(self):
    method _get_obs_ref_base_angvel_fut (line 2475) | def _get_obs_ref_base_angvel_fut(self):
    method _get_obs_ref_keybody_rel_pos_cur (line 2512) | def _get_obs_ref_keybody_rel_pos_cur(self):
    method _get_obs_ref_keybody_rel_pos_fut (line 2557) | def _get_obs_ref_keybody_rel_pos_fut(self):
    method _get_obs_place_holder (line 2616) | def _get_obs_place_holder(self):
    method _get_obs_vr_ref_motion_states (line 2619) | def _get_obs_vr_ref_motion_states(self):
    method _get_obs_vr_ref_motion_states_fut (line 2632) | def _get_obs_vr_ref_motion_states_fut(self):
    method _get_obs_rel_robot_root_ang_vel (line 2657) | def _get_obs_rel_robot_root_ang_vel(self):
    method _get_obs_last_action (line 2671) | def _get_obs_last_action(self):
    method _get_obs_velocity_command (line 2674) | def _get_obs_velocity_command(self):
    method _get_obs_actor_ref_headling_aligned_vel_cmd (line 2690) | def _get_obs_actor_ref_headling_aligned_vel_cmd(self):
    method _get_obs_actor_velocity_command (line 2694) | def _get_obs_actor_velocity_command(self):
    method _get_obs_actor_projected_gravity (line 2697) | def _get_obs_actor_projected_gravity(self):
    method _get_obs_actor_rel_robot_root_ang_vel (line 2700) | def _get_obs_actor_rel_robot_root_ang_vel(self):
    method _get_obs_actor_dof_pos (line 2703) | def _get_obs_actor_dof_pos(self):
    method _get_obs_actor_dof_vel (line 2706) | def _get_obs_actor_dof_vel(self):
    method _get_obs_actor_last_action (line 2709) | def _get_obs_actor_last_action(self):
    method _get_obs_actor_place_holder (line 2712) | def _get_obs_actor_place_holder(self):
    method _get_obs_actor_ref_dof_pos_fut (line 2715) | def _get_obs_actor_ref_dof_pos_fut(self):
    method _get_obs_actor_ref_dof_pos_cur (line 2718) | def _get_obs_actor_ref_dof_pos_cur(self):
    method _get_obs_actor_ref_motion_filter_cutoff_hz (line 2721) | def _get_obs_actor_ref_motion_filter_cutoff_hz(self):
    method _get_obs_actor_ref_root_height_fut (line 2724) | def _get_obs_actor_ref_root_height_fut(self):
    method _get_obs_actor_ref_root_height_cur (line 2727) | def _get_obs_actor_ref_root_height_cur(self):
    method _get_obs_actor_ref_gravity_projection_cur (line 2730) | def _get_obs_actor_ref_gravity_projection_cur(self):
    method _get_obs_actor_ref_gravity_projection_fut (line 2733) | def _get_obs_actor_ref_gravity_projection_fut(self):
    method _get_obs_actor_ref_base_linvel_cur (line 2736) | def _get_obs_actor_ref_base_linvel_cur(self):
    method _get_obs_actor_ref_base_linvel_fut (line 2739) | def _get_obs_actor_ref_base_linvel_fut(self):
    method _get_obs_actor_ref_base_angvel_cur (line 2742) | def _get_obs_actor_ref_base_angvel_cur(self):
    method _get_obs_actor_ref_base_angvel_fut (line 2745) | def _get_obs_actor_ref_base_angvel_fut(self):
    method _get_obs_actor_ref_keybody_rel_pos_cur (line 2748) | def _get_obs_actor_ref_keybody_rel_pos_cur(self):
    method _get_obs_actor_ref_keybody_rel_pos_fut (line 2751) | def _get_obs_actor_ref_keybody_rel_pos_fut(self):
    method _get_obs_global_anchor_diff (line 2754) | def _get_obs_global_anchor_diff(self):
    method _get_obs_global_anchor_pos_diff (line 2796) | def _get_obs_global_anchor_pos_diff(self):
    method _get_obs_global_anchor_rot_diff (line 2836) | def _get_obs_global_anchor_rot_diff(self):
    method _get_obs_global_bodylink_translation (line 2886) | def _get_obs_global_bodylink_translation(self) -> np.ndarray:
    method _get_obs_global_bodylink_rotation_quat (line 2895) | def _get_obs_global_bodylink_rotation_quat(self) -> np.ndarray:
    method _get_obs_global_bodylink_velocity (line 2905) | def _get_obs_global_bodylink_velocity(self) -> np.ndarray:
    method _get_obs_global_bodylink_angular_velocity (line 2912) | def _get_obs_global_bodylink_angular_velocity(self) -> np.ndarray:
    method ref_global_bodylink_pos (line 2920) | def ref_global_bodylink_pos(self) -> np.ndarray | None:
    method ref_global_bodylink_rot (line 2966) | def ref_global_bodylink_rot(self) -> np.ndarray | None:
    method _draw_ref_body_spheres_to_scene (line 3003) | def _draw_ref_body_spheres_to_scene(
    method _get_obs_rel_anchor_lin_vel (line 3038) | def _get_obs_rel_anchor_lin_vel(self):
    method _get_obs_projected_gravity (line 3055) | def _get_obs_projected_gravity(self):
    method _get_obs_dof_pos (line 3067) | def _get_obs_dof_pos(self):
    method _get_obs_dof_vel (line 3074) | def _get_obs_dof_vel(self):
    method _record_robot_states (line 3079) | def _record_robot_states(self) -> None:
    method load_specific_motion (line 3133) | def load_specific_motion(self, npz_path):
    method reset_state_teleport (line 3162) | def reset_state_teleport(self):
    method save_batch_result (line 3249) | def save_batch_result(self, output_path, meta_info):
    method setup (line 3322) | def setup(self):
    method _create_eval_progress_bar (line 3359) | def _create_eval_progress_bar(self, desc: str, max_steps: int):
    method _advance_eval_frame (line 3366) | def _advance_eval_frame(self, max_steps: int) -> bool:
    method _run_eval_step (line 3376) | def _run_eval_step(self, max_steps: int) -> bool:
    method _build_mjcf_dof_names (line 3384) | def _build_mjcf_dof_names(self):
    method _build_actuator_qpos_indices (line 3398) | def _build_actuator_qpos_indices(self):
    method _build_actuator_name_map (line 3407) | def _build_actuator_name_map(self):
    method _build_actuator_force_range_map (line 3425) | def _build_actuator_force_range_map(self):
    method run_simulation_unitree (line 3450) | def run_simulation_unitree(self):
    method run_simulation_unitree_headless (line 3535) | def run_simulation_unitree_headless(self):
    method run_simulation (line 3579) | def run_simulation(self):
    method _update_policy (line 3586) | def _update_policy(self):
  function _get_config_value (line 3705) | def _get_config_value(config_obj, key: str):
  function _normalize_ckpt_name_list (line 3712) | def _normalize_ckpt_name_list(ckpt_onnx_names):
  function _resolve_multi_ckpt_paths (line 3732) | def _resolve_multi_ckpt_paths(ckpt_onnx_root_dir, ckpt_onnx_names):
  function _resolve_eval_ckpt_paths (line 3789) | def _resolve_eval_ckpt_paths(config_obj):
  function _checkpoint_tag_from_path (line 3810) | def _checkpoint_tag_from_path(ckpt_path: Path) -> str:
  function _build_eval_output_dir (line 3817) | def _build_eval_output_dir(ckpt_path: Path, dataset_name: str) -> Path:
  function _build_onnx_io_dump_dir (line 3823) | def _build_onnx_io_dump_dir(output_dir: str | Path) -> Path:
  function _build_onnx_io_dump_path (line 3827) | def _build_onnx_io_dump_path(
  function _build_onnx_io_dump_readme_text (line 3834) | def _build_onnx_io_dump_readme_text() -> str:
  function write_onnx_io_dump_readme (line 3878) | def write_onnx_io_dump_readme(output_dir: str | Path) -> Path:
  function _allocate_actor_counts (line 3886) | def _allocate_actor_counts(num_checkpoints: int, total_actors: int):
  function _infer_step_from_ckpt_name (line 3896) | def _infer_step_from_ckpt_name(ckpt_name: str):
  function _read_total_macro_row (line 3906) | def _read_total_macro_row(tsv_path: Path):
  function _write_total_macro_summary_table (line 3918) | def _write_total_macro_summary_table(
  function process_config (line 4051) | def process_config(override_config):
  function _create_ray_evaluator (line 4124) | def _create_ray_evaluator(config_dict, model_type):
  function run_mujoco_sim2sim_eval (line 4148) | def run_mujoco_sim2sim_eval(override_config: OmegaConf):
  function main (line 4537) | def main(override_config: OmegaConf):

FILE: holomotion/src/evaluation/eval_velocity_tracking.py
  function load_training_config (line 29) | def load_training_config(
  function main (line 87) | def main(config: OmegaConf):

FILE: holomotion/src/evaluation/find_worst_clips.py
  function find_and_save_bad_clips (line 39) | def find_and_save_bad_clips(
  function main (line 88) | def main() -> None:

FILE: holomotion/src/evaluation/metrics.py
  function quat_inv (line 48) | def quat_inv(q):
  function quat_apply (line 52) | def quat_apply(q, v):
  function p_mpjpe (line 63) | def p_mpjpe(predicted: np.ndarray, target: np.ndarray) -> np.ndarray:
  function _parse_clip_len_from_name (line 123) | def _parse_clip_len_from_name(filename: str) -> Optional[int]:
  function _parse_metadata_entry (line 129) | def _parse_metadata_entry(raw_metadata) -> Dict[str, object]:
  function _extract_robot_control_dt (line 155) | def _extract_robot_control_dt(
  function _extract_low_level_contact_dt (line 175) | def _extract_low_level_contact_dt(
  function _aggregate_sample_metric_to_frames (line 200) | def _aggregate_sample_metric_to_frames(
  function _compute_torque_jump_series (line 220) | def _compute_torque_jump_series(
  function _safe_nanpercentile (line 241) | def _safe_nanpercentile(values: np.ndarray, q: float) -> float:
  function _safe_nanmean (line 249) | def _safe_nanmean(values: np.ndarray) -> float:
  function _safe_nanmedian (line 257) | def _safe_nanmedian(values: np.ndarray) -> float:
  function _compute_rolling_nanmean_max (line 265) | def _compute_rolling_nanmean_max(
  function _integrate_psd_band (line 291) | def _integrate_psd_band(
  function _compute_psd_high_frequency_ratio (line 313) | def _compute_psd_high_frequency_ratio(
  function _compute_torque_chatter_hf_ratio (line 354) | def _compute_torque_chatter_hf_ratio(
  function _compute_torso_roll_pitch_stability_metrics (line 376) | def _compute_torso_roll_pitch_stability_metrics(
  function _compute_expert_switching_js_div (line 411) | def _compute_expert_switching_js_div(
  function _compute_contact_stability_metrics (line 442) | def _compute_contact_stability_metrics(
  function _compute_clip_stability_summary (line 515) | def _compute_clip_stability_summary(
  function _compute_clip_torque_jump_summary (line 581) | def _compute_clip_torque_jump_summary(
  function _per_frame_metrics_from_npz (line 638) | def _per_frame_metrics_from_npz(
  function offline_evaluate_dumped_npzs (line 904) | def offline_evaluate_dumped_npzs(
  function parse_ckpt_and_dataset_from_eval_dirname (line 1284) | def parse_ckpt_and_dataset_from_eval_dirname(
  function run_evaluation (line 1313) | def run_evaluation(

FILE: holomotion/src/evaluation/multi_model_metrics_report.py
  class AnalysisReportGenerator (line 57) | class AnalysisReportGenerator:
    method __init__ (line 60) | def __init__(
    method run (line 89) | def run(self) -> None:
    method _load_and_prepare_data (line 112) | def _load_and_prepare_data(self) -> Optional[pd.DataFrame]:
    method _create_kde_plot (line 156) | def _create_kde_plot(self, metric: str, save_path: Path) -> None:
    method _create_matplotlib_radar_chart (line 195) | def _create_matplotlib_radar_chart(self) -> None:
    method _generate_markdown_report (line 333) | def _generate_markdown_report(self) -> str:
  function parse_args (line 426) | def parse_args() -> argparse.Namespace:

FILE: holomotion/src/evaluation/obs/obs_builder.py
  function get_gravity_orientation (line 24) | def get_gravity_orientation(quaternion: np.ndarray) -> np.ndarray:
  class _CircularBuffer (line 45) | class _CircularBuffer:
    method __init__ (line 51) | def __init__(self, max_len: int, feat_dim: int, device: str):
    method buffer (line 66) | def buffer(self) -> torch.Tensor:
    method append (line 78) | def append(self, data: torch.Tensor) -> None:
  class PolicyObsBuilder (line 96) | class PolicyObsBuilder:
    method __init__ (line 108) | def __init__(
    method reset (line 142) | def reset(self) -> None:
    method _compute_term (line 148) | def _compute_term(
    method build_policy_obs (line 162) | def build_policy_obs(self) -> np.ndarray:

FILE: holomotion/src/evaluation/ray_evaluator_actor.py
  class RayEvaluatorActor (line 30) | class RayEvaluatorActor:
    method __init__ (line 37) | def __init__(self, config_dict, output_dir):
    method run_clip (line 48) | def run_clip(self, file_path):
  function _load_ray_evaluator (line 83) | def _load_ray_evaluator(config_dict, model_type):

FILE: holomotion/src/evaluation/ray_metrics_postprocess.py
  function run_metrics_postprocess_job (line 28) | def run_metrics_postprocess_job(

FILE: holomotion/src/modules/agent_modules.py
  function _module_device (line 35) | def _module_device(module: nn.Module) -> torch.device:
  function _clone_module_for_cpu_export (line 43) | def _clone_module_for_cpu_export(module: nn.Module) -> nn.Module:
  class TensorDictAssembler (line 56) | class TensorDictAssembler(torch.nn.Module):
    method __init__ (line 57) | def __init__(self, schema_config: dict, *, output_mode: str = "flat"):
    method _get_from_data (line 82) | def _get_from_data(data: TensorDict, key: str):
    method _validate_to_seq (line 96) | def _validate_to_seq(
    method _validate_and_flatten (line 120) | def _validate_and_flatten(
    method forward (line 144) | def forward(self, data: TensorDict) -> torch.Tensor:
    method infer_output_dim (line 232) | def infer_output_dim(self, sample: TensorDict) -> int:
  class PPOActorOnnxModule (line 240) | class PPOActorOnnxModule(nn.Module):
    method __init__ (line 241) | def __init__(
    method forward (line 254) | def forward(self, obs: torch.Tensor) -> torch.Tensor:
  class PPOTFActorOnnxModule (line 265) | class PPOTFActorOnnxModule(nn.Module):
    method __init__ (line 266) | def __init__(
    method forward (line 279) | def forward(
  class PPOTFWoKVCacheActorOnnxModule (line 299) | class PPOTFWoKVCacheActorOnnxModule(nn.Module):
    method __init__ (line 300) | def __init__(
    method forward (line 313) | def forward(self, obs: torch.Tensor) -> torch.Tensor:
  class PPOCondTFActorOnnxModule (line 333) | class PPOCondTFActorOnnxModule(nn.Module):
    method __init__ (line 334) | def __init__(
    method forward (line 364) | def forward(
  class PPOActor (line 410) | class PPOActor(TensorDictModuleBase):
    method __init__ (line 411) | def __init__(
    method _process_module_config (line 554) | def _process_module_config(self, module_config_dict, num_actions):
    method _sigma_from_params (line 574) | def _sigma_from_params(self) -> torch.Tensor:
    method _normalize_actor_obs (line 579) | def _normalize_actor_obs(
    method _sigma_like (line 600) | def _sigma_like(self, like: torch.Tensor) -> torch.Tensor:
    method actor (line 617) | def actor(self):
    method flat_obs_dim (line 621) | def flat_obs_dim(self) -> int:
    method export_onnx (line 632) | def export_onnx(
    method forward (line 677) | def forward(
    method update_distribution (line 741) | def update_distribution(self, actor_obs):
    method override_sigma (line 749) | def override_sigma(self, sigma_override: float | torch.Tensor) -> None:
  class PPOCritic (line 778) | class PPOCritic(TensorDictModuleBase):
    method __init__ (line 779) | def __init__(
    method _normalize_critic_obs (line 884) | def _normalize_critic_obs(
    method forward (line 905) | def forward(
  class PPOTFActor (line 947) | class PPOTFActor(PPOActor):
    method __init__ (line 955) | def __init__(
    method _sigma_from_params (line 1001) | def _sigma_from_params(self) -> torch.Tensor:
    method reset_kv_cache (line 1007) | def reset_kv_cache(self, num_envs: int, device):
    method clear_env_cache (line 1011) | def clear_env_cache(self, env_ids: torch.Tensor):
    method onnx_past_key_values_shape (line 1015) | def onnx_past_key_values_shape(
    method onnx_moe_layer_indices (line 1032) | def onnx_moe_layer_indices(self) -> list[int]:
    method onnx_routing_output_names (line 1042) | def onnx_routing_output_names(self) -> list[str]:
    method _maybe_update_aux_router_future_recon_norm (line 1053) | def _maybe_update_aux_router_future_recon_norm(
    method export_onnx (line 1070) | def export_onnx(
    method update_distribution (line 1151) | def update_distribution(self, actor_obs):
    method forward (line 1162) | def forward(
    method sequence_forward_logp (line 1341) | def sequence_forward_logp(
  class PPOTFRefRouterActor (line 1512) | class PPOTFRefRouterActor(PPOTFActor):
    method _leaf_obs_name (line 1514) | def _leaf_obs_name(term: str) -> str:
    method _infer_flat_term_dim (line 1518) | def _infer_flat_term_dim(
    method infer_router_feature_indices (line 1554) | def infer_router_feature_indices(
    method __init__ (line 1591) | def __init__(
  class PPOTFRefRouterSeqActor (line 1640) | class PPOTFRefRouterSeqActor(PPOTFActor):
    method _leaf_obs_name (line 1663) | def _leaf_obs_name(term: str) -> str:
    method _infer_flat_term_dim (line 1667) | def _infer_flat_term_dim(
    method _validate_v2_aux_config (line 1702) | def _validate_v2_aux_config(cls, module_config_dict: dict) -> None:
    method _build_aux_router_future_recon_schema (line 1727) | def _build_aux_router_future_recon_schema(
    method _prepare_aux_router_future_recon (line 1759) | def _prepare_aux_router_future_recon(
    method _infer_shared_ref_layout (line 1784) | def _infer_shared_ref_layout(
    method __init__ (line 1891) | def __init__(
  class PPOTFRefRouterV3Actor (line 1967) | class PPOTFRefRouterV3Actor(PPOTFRefRouterSeqActor):
    method __init__ (line 1968) | def __init__(
  class PPOCondTFActor (line 2048) | class PPOCondTFActor(PPOTFActor):
    method __init__ (line 2051) | def __init__(
    method _infer_future_term_dims (line 2113) | def _infer_future_term_dims(self, obs_example: TensorDict) -> list[int]:
    method flat_obs_dim (line 2151) | def flat_obs_dim(self) -> int:
    method _normalize_state_obs (line 2160) | def _normalize_state_obs(
    method _assemble_state_future (line 2178) | def _assemble_state_future(
    method _split_flat_obs (line 2189) | def _split_flat_obs(
    method export_onnx (line 2218) | def export_onnx(
    method update_distribution (line 2276) | def update_distribution(self, actor_obs):
    method forward (line 2291) | def forward(
    method sequence_forward_logp_cond (line 2469) | def sequence_forward_logp_cond(

FILE: holomotion/src/modules/network_modules.py
  class EmpiricalNormalization (line 26) | class EmpiricalNormalization(nn.Module):
    method __init__ (line 29) | def __init__(
    method mean (line 90) | def mean(self):
    method std (line 94) | def std(self):
    method forward (line 97) | def forward(self, x):
    method normalize_only (line 111) | def normalize_only(self, x):
    method update (line 116) | def update(self, x):
    method inverse (line 147) | def inverse(self, y):
    method sync_stats_across_processes (line 150) | def sync_stats_across_processes(self, accelerator):
  class MLP (line 225) | class MLP(nn.Module):
    method __init__ (line 226) | def __init__(
    method forward (line 288) | def forward(self, x: torch.Tensor) -> torch.Tensor:
  class ConvMLP (line 303) | class ConvMLP(nn.Module):
    method __init__ (line 306) | def __init__(
    method forward (line 356) | def forward(self, hist_seq: torch.Tensor) -> torch.Tensor:
  class ReferenceMotionConvRouterEncoder (line 363) | class ReferenceMotionConvRouterEncoder(nn.Module):
    method __init__ (line 366) | def __init__(
    method forward (line 434) | def forward(self, seq: torch.Tensor) -> torch.Tensor:
  class SingleQueryAttentionPool (line 450) | class SingleQueryAttentionPool(nn.Module):
    method __init__ (line 451) | def __init__(self, d_model: int):
    method forward (line 460) | def forward(
  class GroupedMoETransformerPolicy (line 498) | class GroupedMoETransformerPolicy(nn.Module):
    method __init__ (line 516) | def __init__(
    method _load_from_state_dict (line 913) | def _load_from_state_dict(
    method _router_no_grad_context (line 962) | def _router_no_grad_context(self):
    method _apply_base_freeze_router_state (line 967) | def _apply_base_freeze_router_state(self) -> None:
    method _apply_freeze_router_state (line 972) | def _apply_freeze_router_state(self) -> None:
    method _set_cos_sin_cache (line 979) | def _set_cos_sin_cache(self, seq_len):
    method get_cos_sin (line 996) | def get_cos_sin(self, x, position_ids):
    method _init_last_moe_router_shift_state (line 1008) | def _init_last_moe_router_shift_state(self, num_envs: int, device) -> ...
    method _accumulate_last_moe_router_shift (line 1039) | def _accumulate_last_moe_router_shift(
    method get_last_moe_router_shift_stats (line 1085) | def get_last_moe_router_shift_stats(
    method reset_kv_cache (line 1095) | def reset_kv_cache(self, num_envs: int, device):
    method clear_env_cache (line 1123) | def clear_env_cache(self, env_ids: torch.Tensor | None):
    method set_collect_routing_stats (line 1156) | def set_collect_routing_stats(self, collect: bool) -> None:
    method reset_routing_stats (line 1165) | def reset_routing_stats(self) -> None:
    method clear_router_distribution_cache (line 1170) | def clear_router_distribution_cache(self) -> None:
    method _set_capture_router_distributions (line 1178) | def _set_capture_router_distributions(self, capture: bool) -> None:
    method _set_capture_router_features (line 1184) | def _set_capture_router_features(
    method apply_dynamic_bias_update_from_stats (line 1197) | def apply_dynamic_bias_update_from_stats(self) -> None:
    method _make_causal_mask (line 1202) | def _make_causal_mask(self, T: int, device) -> torch.Tensor:
    method _forward_layers_range (line 1206) | def _forward_layers_range(
    method _forward_layers (line 1332) | def _forward_layers(
    method _compute_router_hidden (line 1362) | def _compute_router_hidden(self, x: torch.Tensor) -> torch.Tensor | None:
    method sequence_mu (line 1365) | def sequence_mu(
    method sequence_hidden (line 1441) | def sequence_hidden(
    method _embed_future_tokens (line 1484) | def _embed_future_tokens(
    method sequence_mu_cond (line 1525) | def sequence_mu_cond(
    method predict_aux_from_pre_moe (line 1629) | def predict_aux_from_pre_moe(
    method predict_aux_router_command_from_router_features (line 1707) | def predict_aux_router_command_from_router_features(
    method update_aux_router_future_recon_normalizer (line 1726) | def update_aux_router_future_recon_normalizer(
    method normalize_aux_router_future_recon_target (line 1748) | def normalize_aux_router_future_recon_target(
    method predict_aux_router_future_recon_from_router_hidden (line 1771) | def predict_aux_router_future_recon_from_router_hidden(
    method single_step_mu_cond (line 1790) | def single_step_mu_cond(
    method forward (line 1914) | def forward(
    method single_step_mu (line 1930) | def single_step_mu(self, x: torch.Tensor) -> torch.Tensor:
    method _forward_inference_onnx (line 2012) | def _forward_inference_onnx(
  class ReferenceRoutedGroupedMoETransformerPolicy (line 2112) | class ReferenceRoutedGroupedMoETransformerPolicy(GroupedMoETransformerPo...
    method __init__ (line 2113) | def __init__(
    method _apply_freeze_router_state (line 2185) | def _apply_freeze_router_state(self) -> None:
    method _compute_router_hidden (line 2189) | def _compute_router_hidden(self, x: torch.Tensor) -> torch.Tensor | None:
    method _forward_inference_onnx_cond (line 2201) | def _forward_inference_onnx_cond(
  class ReferenceRoutedGroupedMoETransformerPolicyV2 (line 2281) | class ReferenceRoutedGroupedMoETransformerPolicyV2(
    method __init__ (line 2286) | def __init__(
    method _apply_freeze_router_state (line 2545) | def _apply_freeze_router_state(self) -> None:
    method _build_shared_ref_tokens (line 2556) | def _build_shared_ref_tokens(
    method _build_shared_ref_tokens_single_step (line 2574) | def _build_shared_ref_tokens_single_step(
    method _split_actor_ref_inputs (line 2604) | def _split_actor_ref_inputs(
    method _encode_future_tokens (line 2639) | def _encode_future_tokens(self, ref_fut_x: torch.Tensor) -> torch.Tensor:
    method _pool_router_context (line 2654) | def _pool_router_context(
    method _apply_actor_ref_film (line 2679) | def _apply_actor_ref_film(
    method _actor_film_gain (line 2695) | def _actor_film_gain(self) -> torch.Tensor:
    method _normalize_actor_film_delta (line 2700) | def _normalize_actor_film_delta(self, delta: torch.Tensor) -> torch.Te...
    method _ensure_internal_cache_device (line 2704) | def _ensure_internal_cache_device(
    method reset_kv_cache (line 2728) | def reset_kv_cache(self, num_envs: int, device):
    method clear_env_cache (line 2765) | def clear_env_cache(self, env_ids: torch.Tensor | None):
    method predict_aux_from_pre_moe (line 2801) | def predict_aux_from_pre_moe(
    method sequence_mu (line 2826) | def sequence_mu(
    method sequence_hidden (line 2911) | def sequence_hidden(
    method forward (line 2965) | def forward(
    method single_step_mu (line 2980) | def single_step_mu(self, x: torch.Tensor) -> torch.Tensor:
    method _forward_inference_onnx (line 3082) | def _forward_inference_onnx(
  class ReferenceRoutedGroupedMoETransformerPolicyV3 (line 3207) | class ReferenceRoutedGroupedMoETransformerPolicyV3(
    method __init__ (line 3212) | def __init__(
    method _apply_freeze_router_state (line 3406) | def _apply_freeze_router_state(self) -> None:
    method _build_router_ref_motion (line 3415) | def _build_router_ref_motion(
    method _build_shared_router_summary (line 3433) | def _build_shared_router_summary(
    method _build_router_h_per_layer (line 3440) | def _build_router_h_per_layer(
    method _build_ref_hist_hidden (line 3454) | def _build_ref_hist_hidden(
    method _build_ref_hist_hidden_single_step (line 3469) | def _build_ref_hist_hidden_single_step(
    method predict_aux_from_pre_moe (line 3496) | def predict_aux_from_pre_moe(
    method sequence_mu (line 3508) | def sequence_mu(
    method sequence_hidden (line 3584) | def sequence_hidden(
    method forward (line 3628) | def forward(
    method single_step_mu (line 3643) | def single_step_mu(self, x: torch.Tensor) -> torch.Tensor:
    method _forward_inference_onnx (line 3716) | def _forward_inference_onnx(
  class GroupedMoEBlock (line 3805) | class GroupedMoEBlock(nn.Module):
    method __init__ (line 3806) | def __init__(
    method reset_parameters (line 3994) | def reset_parameters(self) -> None:
    method _load_from_state_dict (line 3998) | def _load_from_state_dict(
    method _apply_freeze_router_state (line 4085) | def _apply_freeze_router_state(self) -> None:
    method reset_routing_stats (line 4088) | def reset_routing_stats(self) -> None:
    method accumulate_routing_stats (line 4103) | def accumulate_routing_stats(self, topk_idx: torch.Tensor) -> None:
    method _apply_bias_update_from_counts (line 4110) | def _apply_bias_update_from_counts(self, counts: torch.Tensor) -> None:
    method apply_bias_update_from_counts (line 4151) | def apply_bias_update_from_counts(self) -> None:
    method _update_routed_expert_stats_and_floor_loss (line 4157) | def _update_routed_expert_stats_and_floor_loss(
    method _compute_sparse_experts (line 4260) | def _compute_sparse_experts(
    method _compute_with_grouped_mm (line 4302) | def _compute_with_grouped_mm(
    method _compute_with_topk_selection (line 4328) | def _compute_with_topk_selection(
    method _compute_with_loop_fallback (line 4368) | def _compute_with_loop_fallback(
    method compute_moe_ffn (line 4391) | def compute_moe_ffn(
    method forward (line 4500) | def forward(
  class ModernTransformerBlock (line 4542) | class ModernTransformerBlock(nn.Module):
    method __init__ (line 4551) | def __init__(
    method forward (line 4598) | def forward(
  class DeepseekV3MLP (line 4642) | class DeepseekV3MLP(nn.Module):
    method __init__ (line 4645) | def __init__(self, hidden_size=None, intermediate_size=None):
    method forward (line 4662) | def forward(self, x: torch.Tensor) -> torch.Tensor:
  class RMSNorm (line 4669) | class RMSNorm(nn.Module):
    method __init__ (line 4672) | def __init__(self, dim: int, eps: float = 1e-6):
    method forward (line 4677) | def forward(self, x: torch.Tensor) -> torch.Tensor:
  class ModernAttention (line 4683) | class ModernAttention(nn.Module):
    method __init__ (line 4697) | def __init__(
    method forward (line 4749) | def forward(
    method forward_single_token (line 4823) | def forward_single_token(
  class ModernCrossAttention (line 4937) | class ModernCrossAttention(nn.Module):
    method __init__ (line 4940) | def __init__(
    method forward (line 4987) | def forward(
  function repeat_kv (line 5051) | def repeat_kv(hidden_states: torch.Tensor, n_rep: int) -> torch.Tensor:
  function export_safe_scaled_dot_product_attention (line 5074) | def export_safe_scaled_dot_product_attention(
  function rotate_half (line 5114) | def rotate_half(x):
  function apply_rotary_pos_emb (line 5121) | def apply_rotary_pos_emb(q, k, cos, sin, position_ids=None, unsqueeze_di...
  function _grouped_linear (line 5138) | def _grouped_linear(

FILE: holomotion/src/motion_retargeting/gmr_to_holomotion.py
  function quaternion_to_axis_angle (line 45) | def quaternion_to_axis_angle(q: torch.Tensor) -> torch.Tensor:
  function dof_to_pose_aa (line 58) | def dof_to_pose_aa(
  function load_any_pkl (line 91) | def load_any_pkl(p: Path):
  function unwrap_source (line 96) | def unwrap_source(obj) -> Dict[str, np.ndarray]:
  function make_motion_key (line 107) | def make_motion_key(p: Path, src_dir: Path) -> str:
  function key_to_filename (line 112) | def key_to_filename(key: str) -> str:
  function get_ref_schema (line 116) | def get_ref_schema(
  function infer_T (line 157) | def infer_T(src_inner: Dict[str, np.ndarray]) -> Optional[int]:
  function build_inner_from_source (line 177) | def build_inner_from_source(
  function to_torch (line 280) | def to_torch(tensor):
  function batch_interpolate_tensor (line 287) | def batch_interpolate_tensor(
  function fast_interpolate_motion (line 364) | def fast_interpolate_motion(motion_dict, source_fps, target_fps):
  function process_single_motion (line 406) | def process_single_motion(
  class InMemoryAlignedLoader (line 658) | class InMemoryAlignedLoader:
    method __init__ (line 661) | def __init__(self, mapping: Dict[str, Dict[str, object]]):
    method keys (line 664) | def keys(self) -> List[str]:
    method __len__ (line 667) | def __len__(self):
    method __getitem__ (line 670) | def __getitem__(self, k: str):
    method load (line 673) | def load(self, k: str):
    method get (line 676) | def get(self, k: str, default=None):
  function arrays_for_npz (line 680) | def arrays_for_npz(
  class MotionProcessorActor (line 712) | class MotionProcessorActor:
    method __init__ (line 717) | def __init__(
    method _dof_to_pose_aa_cached (line 728) | def _dof_to_pose_aa_cached(
    method process_pkl (line 750) | def process_pkl(
  function main (line 795) | def main(cfg: DictConfig) -> None:

FILE: holomotion/src/motion_retargeting/holomotion_fk.py
  class MJCFParser (line 31) | class MJCFParser:
    method __init__ (line 32) | def __init__(self, robot_file_path: str) -> None:
    method parse_vec (line 36) | def parse_vec(
    method _find_parent (line 49) | def _find_parent(
    method _select_include_children (line 59) | def _select_include_children(
    method _resolve_includes (line 73) | def _resolve_includes(cls, root: ETree.Element, base_dir: str) -> None:
    method load_root (line 96) | def load_root(self) -> ETree.Element:
    method parse (line 101) | def parse(
  class URDFParser (line 206) | class URDFParser:
    method __init__ (line 207) | def __init__(self, urdf_path: str) -> None:
    method _as_tf (line 211) | def _as_tf(
    method _load_chain (line 220) | def _load_chain(self) -> pk.Chain:
    method parse (line 225) | def parse(
  class HoloMotionFK (line 353) | class HoloMotionFK(torch.nn.Module):
    method __init__ (line 354) | def __init__(
    method forward (line 426) | def forward(
    method _forward_impl (line 532) | def _forward_impl(

FILE: holomotion/src/motion_retargeting/holomotion_preprocess.py
  function compute_slices (line 48) | def compute_slices(
  function _reshape_time_flat (line 66) | def _reshape_time_flat(a: np.ndarray) -> Tuple[np.ndarray, Tuple[int, .....
  function _butterworth_lowpass_smooth_time (line 72) | def _butterworth_lowpass_smooth_time(
  function _quat_normalize (line 98) | def _quat_normalize(q: np.ndarray) -> np.ndarray:
  function _quat_hemisphere_align (line 104) | def _quat_hemisphere_align(q: np.ndarray) -> np.ndarray:
  function _quat_conjugate (line 118) | def _quat_conjugate(q: np.ndarray) -> np.ndarray:
  function _quat_multiply (line 124) | def _quat_multiply(a: np.ndarray, b: np.ndarray) -> np.ndarray:
  function _finite_difference_time (line 135) | def _finite_difference_time(a: np.ndarray, dt: float) -> np.ndarray:
  function _angular_velocity_from_quat (line 148) | def _angular_velocity_from_quat(
  function butterworth_filter_ref_arrays (line 157) | def butterworth_filter_ref_arrays(
  function _summary (line 168) | def _summary(arr: np.ndarray) -> Dict[str, float]:
  function _ds_summary (line 190) | def _ds_summary(arr: np.ndarray) -> Dict[str, float]:
  function _interpolate_linear (line 212) | def _interpolate_linear(
  function _interpolate_quaternions_slerp (line 232) | def _interpolate_quaternions_slerp(
  function _extract_yaw_only_quat (line 259) | def _extract_yaw_only_quat(quat: np.ndarray) -> np.ndarray:
  function _dof_to_pose_aa (line 275) | def _dof_to_pose_aa(
  function _compute_fk_motion (line 310) | def _compute_fk_motion(
  class ProcessedClip (line 373) | class ProcessedClip:
  class HoloMotionPreprocessor (line 379) | class HoloMotionPreprocessor:
    method __init__ (line 387) | def __init__(
    method _resolve_pipeline (line 403) | def _resolve_pipeline(self, pipeline: Optional[List[str]]) -> List[str]:
    method process_clip (line 408) | def process_clip(self, clip: ProcessedClip) -> List[ProcessedClip]:
    method _apply_slicing (line 450) | def _apply_slicing(self, clip: ProcessedClip) -> List[ProcessedClip]:
    method _apply_filtering (line 516) | def _apply_filtering(self, clip: ProcessedClip) -> ProcessedClip:
    method _apply_filename_as_motionkey (line 538) | def _apply_filename_as_motionkey(
    method _apply_add_legacy_keys (line 560) | def _apply_add_legacy_keys(self, clip: ProcessedClip) -> ProcessedClip:
    method _apply_legacy_to_ref_keys (line 599) | def _apply_legacy_to_ref_keys(self, clip: ProcessedClip) -> ProcessedC...
    method _get_humanoid_fk (line 639) | def _get_humanoid_fk(self) -> HumanoidBatch:
    method _get_default_dof_pos (line 649) | def _get_default_dof_pos(self) -> np.ndarray:
    method _apply_add_padding (line 660) | def _apply_add_padding(self, clip: ProcessedClip) -> ProcessedClip:
    method process_npz_file (line 820) | def process_npz_file(self, npz_path: Path) -> List[ProcessedClip]:
    method run_on_directory (line 843) | def run_on_directory(
    method _run_on_directory_sequential (line 876) | def _run_on_directory_sequential(
    method _run_on_directory_ray (line 898) | def _run_on_directory_ray(
    method tag_directory (line 951) | def tag_directory(self, clips_dir: Path, tags_path: Path) -> None:
  class PreprocessorActor (line 1064) | class PreprocessorActor:
    method __init__ (line 1067) | def __init__(
    method process_npz_file (line 1086) | def process_npz_file(self, npz_path_str: str) -> List[ProcessedClip]:
  function main (line 1096) | def main(cfg: DictConfig) -> None:

FILE: holomotion/src/motion_retargeting/kinematic_filter.py
  function _eval_rule (line 30) | def _eval_rule(val: float, op: str, thr: float) -> bool:
  function _deep_get (line 46) | def _deep_get(container: Dict[str, Any], parts: List[str]) -> Optional[f...
  function _resolve_value (line 57) | def _resolve_value(
  function filter_with_schema (line 78) | def filter_with_schema(
  function _default_schema_path (line 131) | def _default_schema_path() -> Path:
  function run (line 144) | def run(
  function main (line 244) | def main(cfg: DictConfig) -> None:

FILE: holomotion/src/motion_retargeting/pack_hdf5_v2.py
  function _ensure_dir (line 32) | def _ensure_dir(path: str) -> None:
  class ArraySpec (line 37) | class ArraySpec:
  class ClipEntry (line 44) | class ClipEntry:
  class Hdf5ShardWriter (line 50) | class Hdf5ShardWriter:
    method __init__ (line 51) | def __init__(
    method append_motion (line 90) | def append_motion(
    method finalize (line 118) | def finalize(self) -> Dict[str, Any]:
  function _normalize_root_list (line 146) | def _normalize_root_list(value: Any) -> List[str]:
  function _discover_motion_entries (line 156) | def _discover_motion_entries(roots: List[str]) -> List[ClipEntry]:
  function _load_metadata_json (line 185) | def _load_metadata_json(npz_path: Path) -> Tuple[str, Dict[str, Any]]:
  function _cast_array (line 201) | def _cast_array(array: np.ndarray, name: str, npz_path: Path) -> np.ndar...
  function _discover_array_specs (line 220) | def _discover_array_specs(first_npz: Path) -> List[ArraySpec]:
  function _load_npz_arrays (line 253) | def _load_npz_arrays(
  function _relative_npz_path (line 310) | def _relative_npz_path(npz_path: Path, roots: List[str]) -> str:
  function _nan_array_names (line 322) | def _nan_array_names(arrays: Dict[str, np.ndarray]) -> List[str]:
  function _estimate_bytes_for_motion (line 333) | def _estimate_bytes_for_motion(npz_path: Path, mode: str) -> int:
  function main (line 369) | def main(cfg: OmegaConf) -> None:

FILE: holomotion/src/motion_retargeting/reference_filtering.py
  function _reshape_time_flat (line 27) | def _reshape_time_flat(a: np.ndarray) -> Tuple[np.ndarray, Tuple[int, .....
  function _butterworth_lowpass_smooth_time (line 33) | def _butterworth_lowpass_smooth_time(
  function _quat_normalize (line 59) | def _quat_normalize(q: np.ndarray) -> np.ndarray:
  function _quat_hemisphere_align (line 65) | def _quat_hemisphere_align(q: np.ndarray) -> np.ndarray:
  function _quat_conjugate (line 79) | def _quat_conjugate(q: np.ndarray) -> np.ndarray:
  function _quat_multiply (line 85) | def _quat_multiply(a: np.ndarray, b: np.ndarray) -> np.ndarray:
  function _finite_difference_time (line 96) | def _finite_difference_time(a: np.ndarray, dt: float) -> np.ndarray:
  function _angular_velocity_from_quat (line 109) | def _angular_velocity_from_quat(
  function butterworth_filter_ref_arrays (line 118) | def butterworth_filter_ref_arrays(
  function butterworth_filter_root_dof_arrays (line 162) | def butterworth_filter_root_dof_arrays(

FILE: holomotion/src/motion_retargeting/utils/rotation_conversions.py
  function wxyz_to_xyzw (line 13) | def wxyz_to_xyzw(quat):
  function xyzw_to_wxyz (line 17) | def xyzw_to_wxyz(quat):
  function quaternion_to_matrix (line 48) | def quaternion_to_matrix(quaternions: torch.Tensor) -> torch.Tensor:
  function _copysign (line 79) | def _copysign(a: torch.Tensor, b: torch.Tensor) -> torch.Tensor:
  function _sqrt_positive_part (line 99) | def _sqrt_positive_part(x: torch.Tensor) -> torch.Tensor:
  function matrix_to_quaternion (line 110) | def matrix_to_quaternion(matrix: torch.Tensor) -> torch.Tensor:
  function _axis_angle_rotation (line 176) | def _axis_angle_rotation(axis: str, angle: torch.Tensor) -> torch.Tensor:
  function euler_angles_to_matrix (line 206) | def euler_angles_to_matrix(
  function _angle_from_tan (line 239) | def _angle_from_tan(
  function _index_from_letter (line 272) | def _index_from_letter(letter: str) -> int:
  function matrix_to_euler_angles (line 282) | def matrix_to_euler_angles(
  function random_quaternions (line 326) | def random_quaternions(
  function random_rotations (line 353) | def random_rotations(
  function random_rotation (line 374) | def random_rotation(
  function standardize_quaternion (line 391) | def standardize_quaternion(quaternions: torch.Tensor) -> torch.Tensor:
  function quaternion_raw_multiply (line 407) | def quaternion_raw_multiply(a: torch.Tensor, b: torch.Tensor) -> torch.T...
  function quaternion_multiply (line 429) | def quaternion_multiply(a: torch.Tensor, b: torch.Tensor) -> torch.Tensor:
  function quaternion_invert (line 448) | def quaternion_invert(quaternion: torch.Tensor) -> torch.Tensor:
  function quaternion_apply (line 463) | def quaternion_apply(
  function axis_angle_to_matrix (line 489) | def axis_angle_to_matrix(axis_angle: torch.Tensor) -> torch.Tensor:
  function matrix_to_axis_angle (line 505) | def matrix_to_axis_angle(matrix: torch.Tensor) -> torch.Tensor:
  function axis_angle_to_quaternion (line 521) | def axis_angle_to_quaternion(axis_angle: torch.Tensor) -> torch.Tensor:
  function quaternion_to_axis_angle (line 554) | def quaternion_to_axis_angle(quaternions: torch.Tensor) -> torch.Tensor:
  function rotation_6d_to_matrix (line 585) | def rotation_6d_to_matrix(d6: torch.Tensor) -> torch.Tensor:
  function matrix_to_rotation_6d (line 611) | def matrix_to_rotation_6d(matrix: torch.Tensor) -> torch.Tensor:

FILE: holomotion/src/motion_retargeting/utils/torch_humanoid_batch.py
  class HumanoidBatch (line 53) | class HumanoidBatch:
    method __init__ (line 54) | def __init__(self, cfg, device=None):
    method from_mjcf (line 207) | def from_mjcf(self, path):
    method fk_batch (line 285) | def fk_batch(
    method convert_to_proper_kinematic (line 380) | def convert_to_proper_kinematic(self, return_dict):
    method forward_kinematics_batch (line 427) | def forward_kinematics_batch(
    method _compute_velocity (line 488) | def _compute_velocity(p, time_delta, guassian_filter=True):
    method _compute_angular_velocity (line 500) | def _compute_angular_velocity(r, time_delta: float, guassian_filter=Tr...
    method load_mesh (line 519) | def load_mesh(self):
    method mesh_fk (line 610) | def mesh_fk(self, pose=None, trans=None):
  function main (line 670) | def main(cfg: DictConfig):

FILE: holomotion/src/motion_retargeting/utils/visualize_with_mujoco.py
  class OffscreenRenderer (line 34) | class OffscreenRenderer:
    method __init__ (line 37) | def __init__(self, model, height, width):
    method render (line 66) | def render(
    method close (line 92) | def close(self):
  function _get_key_prefix_order (line 96) | def _get_key_prefix_order(cfg: DictConfig) -> List[str]:
  function _get_ref_key_prefix_order (line 121) | def _get_ref_key_prefix_order(cfg: DictConfig) -> List[str]:
  function _pick_with_prefixes (line 140) | def _pick_with_prefixes(
  function _resolve_visualization_arrays (line 164) | def _resolve_visualization_arrays(
  function _draw_body_spheres_to_scene (line 198) | def _draw_body_spheres_to_scene(
  function _load_npz_as_motion (line 234) | def _load_npz_as_motion(
  function _collect_all_npz (line 268) | def _collect_all_npz(
  function _infer_fps_from_meta (line 300) | def _infer_fps_from_meta(
  function _time_length (line 310) | def _time_length(*arrays) -> int:
  function process_single_motion_remote_npz (line 321) | def process_single_motion_remote_npz(
  class MotionRendererNPZ (line 423) | class MotionRendererNPZ:
    method process_single_motion (line 424) | def process_single_motion(
  function main (line 521) | def main(cfg: DictConfig) -> None:

FILE: holomotion/src/training/h5_dataloader.py
  function _cpu_only_dataloader_worker_init_fn (line 90) | def _cpu_only_dataloader_worker_init_fn(worker_id: int) -> None:
  function _allocate_batch_counts (line 96) | def _allocate_batch_counts(
  function _configure_weighted_bins (line 134) | def _configure_weighted_bins(
  function _collect_manifest_keys (line 300) | def _collect_manifest_keys(
  function _normalize_online_filter_cfg (line 336) | def _normalize_online_filter_cfg(
  function preview_weighted_bin_from_manifest (line 370) | def preview_weighted_bin_from_manifest(
  function preview_uniform_from_manifest (line 417) | def preview_uniform_from_manifest(
  function preview_sampling_from_cfg (line 585) | def preview_sampling_from_cfg(motion_cfg: Mapping[str, Any]) -> None:
  class _WorldFrameNormalizeTransform (line 650) | class _WorldFrameNormalizeTransform:
    method _apply_prefix (line 654) | def _apply_prefix(
    method __call__ (line 700) | def __call__(self, arrays: Dict[str, Tensor]) -> None:
  class _CpuFKTransform (line 755) | class _CpuFKTransform:
    method __init__ (line 758) | def __init__(self, robot_file_path: str) -> None:
    method __call__ (line 764) | def __call__(
  class MotionWindow (line 797) | class MotionWindow:
  class MotionClipSample (line 809) | class MotionClipSample:
  class ClipBatch (line 829) | class ClipBatch:
    method collate_fn (line 849) | def collate_fn(samples: List[MotionClipSample]) -> "ClipBatch":
  class Hdf5RootDofDataset (line 901) | class Hdf5RootDofDataset(Dataset[MotionClipSample]):
    method __init__ (line 904) | def __init__(
    method set_progress_counter (line 1046) | def set_progress_counter(self, counter: Optional[mp.Value]) -> None:
    method _normalize_motion_key (line 1050) | def _normalize_motion_key(value: Any) -> Optional[str]:
    method _build_motion_key_aliases (line 1063) | def _build_motion_key_aliases(
    method _enumerate_windows (line 1085) | def _enumerate_windows(self) -> List[MotionWindow]:
    method __len__ (line 1130) | def __len__(self) -> int:
    method _cast_motion_np (line 1134) | def _cast_motion_np(np_array: np.ndarray, name: str) -> Tensor:
    method _make_scalar_metadata_tensor (line 1151) | def _make_scalar_metadata_tensor(value: float, length: int) -> Tensor:
    method _sample_online_filter_cutoff_hz (line 1154) | def _sample_online_filter_cutoff_hz(self) -> float:
    method _add_online_filtered_reference_tensors (line 1167) | def _add_online_filtered_reference_tensors(
    method _derive_root_state_tensors (line 1193) | def _derive_root_state_tensors(
    method __getitem__ (line 1214) | def __getitem__(self, index: int) -> MotionClipSample:
    method _get_shard_handle (line 1294) | def _get_shard_handle(self, shard_index: int) -> h5py.File:
    method close (line 1335) | def close(self) -> None:
    method __del__ (line 1342) | def __del__(self) -> None:
  function _normalize_root_list (line 1346) | def _normalize_root_list(value: Any) -> List[str]:
  function build_motion_datasets_from_cfg (line 1354) | def build_motion_datasets_from_cfg(
  function _cache_collate_fn (line 1491) | def _cache_collate_fn(
  class InfiniteDistributedSampler (line 1508) | class InfiniteDistributedSampler(DistributedSampler):
    method __iter__ (line 1511) | def __iter__(self):
  class InfiniteRandomSampler (line 1520) | class InfiniteRandomSampler(Sampler[int]):
    method __init__ (line 1523) | def __init__(self, data_source: Dataset, seed: int = 0) -> None:
    method __iter__ (line 1528) | def __iter__(self):
    method __len__ (line 1538) | def __len__(self) -> int:
  class WeightedBinInfiniteSampler (line 1543) | class WeightedBinInfiniteSampler(Sampler[int]):
    method __init__ (line 1546) | def __init__(
    method __iter__ (line 1567) | def __iter__(self):
    method __len__ (line 1610) | def __len__(self) -> int:
  class PrioritizedInfiniteSampler (line 1614) | class PrioritizedInfiniteSampler(Sampler[int]):
    method __init__ (line 1617) | def __init__(
    method state_version (line 1680) | def state_version(self) -> int:
    method get_pool_statistics (line 1683) | def get_pool_statistics(self) -> Optional[Dict[str, float]]:
    method _aggregate_by_index (line 1689) | def _aggregate_by_index(
    method _pool_batch_sizes (line 1713) | def _pool_batch_sizes(self) -> Tuple[int, int]:
    method _priority_scores_for_indices (line 1721) | def _priority_scores_for_indices(self, indices: Tensor) -> Tensor:
    method _pool_metric_stats (line 1738) | def _pool_metric_stats(self) -> Dict[str, float]:
    method get_window_state_for_indices (line 1756) | def get_window_state_for_indices(
    method _rebuild_prioritized_pool (line 1796) | def _rebuild_prioritized_pool(self, candidate_indices: Tensor) -> None:
    method maybe_update_from_observations (line 1861) | def maybe_update_from_observations(
    method _reset_uniform_cycle (line 1983) | def _reset_uniform_cycle(self) -> None:
    method _next_uniform_index (line 2018) | def _next_uniform_index(self) -> int:
    method _sample_uniform_indices (line 2028) | def _sample_uniform_indices(
    method _sample_prioritized_indices (line 2058) | def _sample_prioritized_indices(
    method _sample_batch_indices (line 2069) | def _sample_batch_indices(self, generator: torch.Generator) -> Tensor:
    method get_scores_for_indices (line 2100) | def get_scores_for_indices(self, window_indices: Tensor) -> Tensor:
    method __iter__ (line 2109) | def __iter__(self):
    method __len__ (line 2125) | def __len__(self) -> int:
  class Hdf5MotionDataset (line 2129) | class Hdf5MotionDataset(Dataset[MotionClipSample]):
    method __init__ (line 2132) | def __init__(
    method set_progress_counter (line 2238) | def set_progress_counter(self, counter: Optional[mp.Value]) -> None:
    method _enumerate_windows (line 2241) | def _enumerate_windows(self) -> List[MotionWindow]:
    method __len__ (line 2288) | def __len__(self) -> int:
    method __getitem__ (line 2291) | def __getitem__(self, index: int) -> MotionClipSample:
    method _get_shard_handle (line 2367) | def _get_shard_handle(self, shard_index: int) -> h5py.File:
    method close (line 2407) | def close(self) -> None:
  class MotionClipBatchCache (line 2415) | class MotionClipBatchCache:
    method _infer_cuda_device_index (line 2419) | def _infer_cuda_device_index() -> int:
    method _normalize_stage_device (line 2429) | def _normalize_stage_device(
    method __init__ (line 2474) | def __init__(
    method current_batch (line 2584) | def current_batch(self) -> ClipBatch:
    method max_frame_length (line 2589) | def max_frame_length(self) -> int:
    method clip_count (line 2593) | def clip_count(self) -> int:
    method mode (line 2597) | def mode(self) -> str:
    method swap_index (line 2601) | def swap_index(self) -> int:
    method num_batches (line 2605) | def num_batches(self) -> int:
    method set_mode (line 2610) | def set_mode(self, mode: str) -> None:
    method set_seed (line 2619) | def set_seed(self, seed: int, *, reinitialize: bool = True) -> None:
    method advance (line 2625) | def advance(self) -> None:
    method enable_weighted_bin_sampling (line 2654) | def enable_weighted_bin_sampling(
    method enable_cache_curriculum_sampling (line 2734) | def enable_cache_curriculum_sampling(
    method _prepare_cache_curriculum_dump_dir (line 2780) | def _prepare_cache_curriculum_dump_dir(
    method set_cache_curriculum_dump_dir (line 2794) | def set_cache_curriculum_dump_dir(self, dump_dir: str) -> None:
    method update_cache_curriculum (line 2800) | def update_cache_curriculum(
    method _refresh_prefetched_batch (line 2825) | def _refresh_prefetched_batch(self) -> None:
    method _maybe_dump_cache_curriculum_scores_json (line 2830) | def _maybe_dump_cache_curriculum_scores_json(
    method cache_curriculum_scores_for_window_indices (line 2938) | def cache_curriculum_scores_for_window_indices(
    method cache_curriculum_pool_statistics (line 2952) | def cache_curriculum_pool_statistics(
    method sample_env_assignments (line 2959) | def sample_env_assignments(
    method _prepare_gather_indices (line 2996) | def _prepare_gather_indices(
    method gather_tensor (line 3028) | def gather_tensor(
    method lengths_for_indices (line 3049) | def lengths_for_indices(self, clip_indices: Tensor) -> Tensor:
    method motion_keys_for_indices (line 3053) | def motion_keys_for_indices(self, clip_indices: Tensor) -> List[str]:
    method window_indices_for_indices (line 3060) | def window_indices_for_indices(self, clip_indices: Tensor) -> Tensor:
    method _prime_buffers (line 3066) | def _prime_buffers(self) -> None:
    method _fetch_next_batch (line 3094) | def _fetch_next_batch(self) -> ClipBatch:
    method _load_next_batch (line 3109) | def _load_next_batch(self) -> ClipBatch:
    method _load_next_batch_raw (line 3114) | def _load_next_batch_raw(self) -> ClipBatch:
    method _load_next_batch_with_progress (line 3125) | def _load_next_batch_with_progress(self) -> ClipBatch:
    method _stage_batch_blocking (line 3166) | def _stage_batch_blocking(self, batch: ClipBatch) -> ClipBatch:
    method _stage_batch (line 3199) | def _stage_batch(
    method _build_iterator (line 3269) | def _build_iterator(
    method _build_dataloader (line 3280) | def _build_dataloader(self) -> None:
    method close (line 3417) | def close(self) -> None:
    method __del__ (line 3435) | def __del__(self) -> None:
    method _loader_timeout_seconds (line 3438) | def _loader_timeout_seconds(self) -> float:
    method _result_timeout (line 3443) | def _result_timeout(self) -> Optional[float]:
    method _should_use_batch_progress (line 3449) | def _should_use_batch_progress(self) -> bool:

FILE: holomotion/src/training/reference_filter_export.py
  function _to_numpy (line 37) | def _to_numpy(array_like) -> np.ndarray:
  function _require_tensor (line 43) | def _require_tensor(
  function _quat_xyzw_to_rpy (line 51) | def _quat_xyzw_to_rpy(quat_xyzw: np.ndarray) -> np.ndarray:
  function _write_npz (line 60) | def _write_npz(output_path: Path, payload: Mapping[str, np.ndarray]) -> ...
  function _plot_series_groups (line 64) | def _plot_series_groups(
  function _plot_dof_matrix (line 104) | def _plot_dof_matrix(
  function export_reference_filter_debug_artifacts (line 133) | def export_reference_filter_debug_artifacts(
  function _to_plain_sequence (line 373) | def _to_plain_sequence(values) -> list[str]:
  function export_reference_filter_artifacts_from_config (line 381) | def export_reference_filter_artifacts_from_config(config) -> Path:

FILE: holomotion/src/training/train.py
  function _resolve_mujoco_eval_onnx_names (line 34) | def _resolve_mujoco_eval_onnx_names(
  function _exec_mujoco_eval (line 76) | def _exec_mujoco_eval(eval_override_dict: dict) -> None:
  function _maybe_export_reference_filter_artifacts (line 102) | def _maybe_export_reference_filter_artifacts(config: OmegaConf) -> None:
  function main (line 117) | def main(config: OmegaConf):

FILE: holomotion/src/utils/config.py
  function setup_hydra_resolvers (line 28) | def setup_hydra_resolvers():
  function compile_config (line 66) | def compile_config(
  function compile_config_hf_accelerate (line 89) | def compile_config_hf_accelerate(
  function compile_config_devices (line 147) | def compile_config_devices(config):
  function compile_config_directories (line 187) | def compile_config_directories(config, eval: bool = False) -> None:

FILE: holomotion/src/utils/frame_utils.py
  function positions_world_to_env_frame (line 23) | def positions_world_to_env_frame(
  function root_relative_positions_from_env_frame (line 58) | def root_relative_positions_from_env_frame(
  function root_relative_positions_from_mixed_position_frames (line 108) | def root_relative_positions_from_mixed_position_frames(

FILE: holomotion/src/utils/isaac_utils/maths.py
  function normalize (line 28) | def normalize(x, eps: float = 1e-9):
  function torch_rand_float (line 33) | def torch_rand_float(lower, upper, shape, device):
  function copysign (line 39) | def copysign(a, b):
  function set_seed (line 45) | def set_seed(seed, torch_deterministic=False):

FILE: holomotion/src/utils/isaac_utils/rotations.py
  function quat_unit (line 34) | def quat_unit(a):
  function quat_apply (line 39) | def quat_apply(a: Tensor, b: Tensor, w_last: bool) -> Tensor:
  function quat_apply_yaw (line 54) | def quat_apply_yaw(quat: Tensor, vec: Tensor, w_last: bool) -> Tensor:
  function wrap_to_pi (line 62) | def wrap_to_pi(angles):
  function quat_conjugate (line 69) | def quat_conjugate(a: Tensor, w_last: bool) -> Tensor:
  function quat_apply (line 79) | def quat_apply(a: Tensor, b: Tensor, w_last: bool) -> Tensor:
  function quat_rotate (line 94) | def quat_rotate(q: Tensor, v: Tensor, w_last: bool) -> Tensor:
  function quat_rotate_inverse (line 115) | def quat_rotate_inverse(q: Tensor, v: Tensor, w_last: bool) -> Tensor:
  function quat_angle_axis (line 136) | def quat_angle_axis(x: Tensor, w_last: bool) -> Tuple[Tensor, Tensor]:
  function quat_from_angle_axis (line 153) | def quat_from_angle_axis(angle: Tensor, axis: Tensor, w_last: bool) -> T...
  function vec_to_heading (line 164) | def vec_to_heading(h_vec):
  function heading_to_quat (line 170) | def heading_to_quat(h_theta, w_last: bool):
  function quat_axis (line 184) | def quat_axis(q: Tensor, axis: int, w_last: bool) -> Tensor:
  function normalize_angle (line 191) | def normalize_angle(x):
  function get_basis_vector (line 196) | def get_basis_vector(q: Tensor, v: Tensor, w_last: bool) -> Tensor:
  function quat_to_angle_axis (line 201) | def quat_to_angle_axis(q):
  function slerp (line 226) | def slerp(q0, q1, t):
  function angle_axis_to_exp_map (line 253) | def angle_axis_to_exp_map(angle, axis):
  function my_quat_rotate (line 262) | def my_quat_rotate(q, v):
  function calc_heading (line 279) | def calc_heading(q):
  function quat_to_exp_map (line 294) | def quat_to_exp_map(q):
  function calc_heading_quat (line 304) | def calc_heading_quat(q, w_last):
  function calc_heading_quat_inv (line 318) | def calc_heading_quat_inv(q, w_last):
  function quat_inverse (line 332) | def quat_inverse(x, w_last):
  function get_euler_xyz (line 339) | def get_euler_xyz(q: Tensor, w_last: bool) -> Tuple[Tensor, Tensor, Tens...
  function get_euler_xyz_in_tensor (line 374) | def get_euler_xyz_in_tensor(q):
  function quat_pos (line 406) | def quat_pos(x):
  function is_valid_quat (line 415) | def is_valid_quat(q):
  function quat_normalize (line 421) | def quat_normalize(q):
  function quat_mul (line 428) | def quat_mul(a, b, w_last: bool):
  function quat_mul_norm (line 459) | def quat_mul_norm(x, y, w_last):
  function quat_mul_norm (line 468) | def quat_mul_norm(x, y, w_last):
  function quat_identity (line 477) | def quat_identity(shape: List[int]):
  function quat_identity_like (line 486) | def quat_identity_like(x):
  function transform_from_rotation_translation (line 492) | def transform_from_rotation_translation(
  function transform_rotation (line 508) | def transform_rotation(x):
  function transform_translation (line 514) | def transform_translation(x):
  function transform_mul (line 520) | def transform_mul(x, y):
  function quaternion_to_matrix (line 535) | def quaternion_to_matrix(
  function axis_angle_to_quaternion (line 577) | def axis_angle_to_quaternion(axis_angle: torch.Tensor) -> torch.Tensor:
  function wxyz_to_xyzw (line 611) | def wxyz_to_xyzw(quat):
  function xyzw_to_wxyz (line 616) | def xyzw_to_wxyz(quat):
  function matrix_to_quaternion (line 620) | def matrix_to_quaternion(matrix: torch.Tensor) -> torch.Tensor:
  function _sqrt_positive_part (line 684) | def _sqrt_positive_part(x: torch.Tensor) -> torch.Tensor:
  function quat_w_first (line 694) | def quat_w_first(rot):
  function quat_from_euler_xyz (line 700) | def quat_from_euler_xyz(roll, pitch, yaw):
  function remove_yaw_component (line 717) | def remove_yaw_component(

FILE: holomotion/src/utils/onnx_export.py
  function _list_to_csv_str (line 26) | def _list_to_csv_str(arr, *, decimals: int = 3, delimiter: str = ",") ->...
  function attach_onnx_metadata_holomotion (line 33) | def attach_onnx_metadata_holomotion(env, onnx_path: str) -> None:
  function export_policy_to_onnx (line 67) | def export_policy_to_onnx(

FILE: holomotion/src/utils/reference_prefix.py
  function resolve_reference_tensor_key (line 21) | def resolve_reference_tensor_key(

FILE: holomotion/src/utils/torch_utils.py
  function to_torch (line 15) | def to_torch(x, dtype=torch.float, device="cpu", requires_grad=False):
  function quat_mul (line 22) | def quat_mul(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor:
  function normalize (line 61) | def normalize(x, eps: float = 1e-9):
  function quat_apply (line 66) | def quat_apply(quat: torch.Tensor, vec: torch.Tensor) -> torch.Tensor:
  function quat_apply_inverse (line 88) | def quat_apply_inverse(quat: torch.Tensor, vec: torch.Tensor) -> torch.T...
  function quat_rotate (line 110) | def quat_rotate(q, v):
  function quat_rotate_inverse (line 127) | def quat_rotate_inverse(q, v):
  function quat_conjugate (line 144) | def quat_conjugate(a):
  function quat_unit (line 152) | def quat_unit(a):
  function quat_from_angle_axis (line 157) | def quat_from_angle_axis(angle, axis):
  function normalize_angle (line 165) | def normalize_angle(x):
  function tf_inverse (line 170) | def tf_inverse(q, t):
  function tf_apply (line 176) | def tf_apply(q, t, v):
  function tf_vector (line 181) | def tf_vector(q, v):
  function tf_combine (line 186) | def tf_combine(q1, t1, q2, t2):
  function get_basis_vector (line 191) | def get_basis_vector(q, v):
  function get_axis_params (line 195) | def get_axis_params(value, axis_idx, x_value=0.0, dtype=np.float64, n_di...
  function copysign (line 208) | def copysign(a, b):
  function get_euler_xyz (line 214) | def get_euler_xyz(q: torch.Tensor) -> tuple:
  function quat_from_euler_xyz (line 248) | def quat_from_euler_xyz(roll, pitch, yaw):
  function torch_rand_float (line 264) | def torch_rand_float(lower, upper, shape, device):
  function torch_random_dir_2 (line 270) | def torch_random_dir_2(shape, device):
  function tensor_clamp (line 276) | def tensor_clamp(t, min_t, max_t):
  function scale (line 281) | def scale(x, lower, upper):
  function unscale (line 286) | def unscale(x, lower, upper):
  function unscale_np (line 290) | def unscale_np(x, lower, upper):
  function quat_to_angle_axis (line 295) | def quat_to_angle_axis(q):
  function angle_axis_to_exp_map (line 318) | def angle_axis_to_exp_map(angle, axis):
  function quat_to_exp_map (line 326) | def quat_to_exp_map(q):
  function slerp (line 335) | def slerp(q0, q1, t):
  function my_quat_rotate (line 361) | def my_quat_rotate(q, v):
  function calc_heading (line 378) | def calc_heading(q):
  function calc_heading_quat (line 392) | def calc_heading_quat(q):
  function calc_heading_quat_inv (line 405) | def calc_heading_quat_inv(q):
  function axis_angle_from_quat (line 418) | def axis_angle_from_quat(
  function quat_box_minus (line 483) | def quat_box_minus(
  function quat_error_magnitude (line 517) | def quat_error_magnitude(
  function quat_inv (line 537) | def quat_inv(q: torch.Tensor, eps: float = 1e-9) -> torch.Tensor:
  function xyzw_to_wxyz (line 553) | def xyzw_to_wxyz(q: torch.Tensor) -> torch.Tensor:
  function wxyz_to_xyzw (line 564) | def wxyz_to_xyzw(q: torch.Tensor) -> torch.Tensor:
  function quat_mul_wxyz (line 576) | def quat_mul_wxyz(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor:
  function rotate_vec_wxyz (line 588) | def rotate_vec_wxyz(q_wxyz: torch.Tensor, v: torch.Tensor) -> torch.Tensor:
  function rotate_vec_inv_wxyz (line 612) | def rotate_vec_inv_wxyz(q_wxyz: torch.Tensor, v: torch.Tensor) -> torch....
  function subtract_frame_transforms (line 636) | def subtract_frame_transforms(
  function quat_normalize_wxyz (line 674) | def quat_normalize_wxyz(q_wxyz: torch.Tensor) -> torch.Tensor:
  function matrix_from_quat (line 689) | def matrix_from_quat(quaternions: torch.Tensor) -> torch.Tensor:
  function rot6d_from_quat (line 723) | def rot6d_from_quat(quaternions: torch.Tensor) -> torch.Tensor:
  function matrix_from_rot6d (line 741) | def matrix_from_rot6d(rot6d: torch.Tensor) -> torch.Tensor:
  function quat_from_matrix (line 770) | def quat_from_matrix(mat: torch.Tensor) -> torch.Tensor:
  function quat_from_rot6d (line 832) | def quat_from_rot6d(rot6d: torch.Tensor) -> torch.Tensor:
  function euler_xyz_from_quat (line 847) | def euler_xyz_from_quat(
  function yaw_quat (line 899) | def yaw_quat(quat: torch.Tensor) -> torch.Tensor:
  function standardize_quaternion (line 922) | def standardize_quaternion(quaternions: torch.Tensor) -> torch.Tensor:
  function gaussian_kernel1d (line 938) | def gaussian_kernel1d(
  function gaussian_filter1d (line 950) | def gaussian_filter1d(x: torch.Tensor, sigma: float, dim: int) -> torch....
  function smooth_time_series (line 965) | def smooth_time_series(
  function grad_t (line 979) | def grad_t(x: torch.Tensor, dt: float) -> torch.Tensor:
  function axis_angle_to_matrix (line 993) | def axis_angle_to_matrix(

FILE: holomotion/src/utils/unitree_g1_actuator_calculator.py
  class MotorFamily (line 27) | class MotorFamily:
  class JointSpec (line 40) | class JointSpec:
  function seconds_to_delay_steps (line 114) | def seconds_to_delay_steps(delay_seconds: float, physics_dt: float) -> int:
  function compute_pd_gains (line 218) | def compute_pd_gains(
  function fmt_float (line 227) | def fmt_float(x: float) -> str:
  function fmt_value (line 231) | def fmt_value(value: Any, indent: int = 0) -> str:
  function build_single_group_cfg (line 258) | def build_single_group_cfg(
  function render_single_group_cfg (line 327) | def render_single_group_cfg(
  function print_summary (line 372) | def print_summary(cfg: dict[str, Any]) -> None:
  function main (line 400) | def main() -> None:

FILE: tests/benchmark_legacy_onnx_attention.py
  class _RawAttentionModule (line 20) | class _RawAttentionModule(nn.Module):
    method forward (line 21) | def forward(
  class _SafeAttentionModule (line 33) | class _SafeAttentionModule(nn.Module):
    method forward (line 34) | def forward(
  function _export_model (line 51) | def _export_model(
  function _benchmark_session (line 71) | def _benchmark_session(
  function main (line 97) | def main() -> None:

FILE: tests/benchmark_moe_router_export.py
  function _extract_int_setting (line 8) | def _extract_int_setting(config_path: Path, key: str) -> int:
  function _load_b0310_shape_config (line 19) | def _load_b0310_shape_config() -> dict[str, int]:
  function _router_scores_training (line 38) | def _router_scores_training(
  function _router_scores_export_safe (line 56) | def _router_scores_export_safe(
  function _benchmark (line 72) | def _benchmark(
  function _run_case (line 96) | def _run_case(
  function main (line 143) | def main() -> None:

FILE: tests/test_actor_export_config.py
  class _DummyTFModule (line 37) | class _DummyTFModule(nn.Module):
    method __init__ (line 38) | def __init__(self):
    method forward (line 45) | def forward(
  class _DummyAttentionTFModule (line 54) | class _DummyAttentionTFModule(nn.Module):
    method __init__ (line 55) | def __init__(self):
    method forward (line 62) | def forward(
  class _RecordingDeviceModule (line 89) | class _RecordingDeviceModule(nn.Module):
    method __init__ (line 90) | def __init__(self):
    method to (line 95) | def to(self, device):
  function _make_minimal_real_transformer_actor (line 101) | def _make_minimal_real_transformer_actor(
  function _capture_moe_router_outputs (line 150) | def _capture_moe_router_outputs(
  function _make_minimal_ref_router_actor (line 201) | def _make_minimal_ref_router_actor() -> PPOTFRefRouterActor:
  function _make_ref_router_v2_obs_schema (line 238) | def _make_ref_router_v2_obs_schema() -> dict:
  function _make_ref_router_v2_obs (line 268) | def _make_ref_router_v2_obs(batch_size: list[int]) -> TensorDict:
  function _make_minimal_ref_router_v2_actor (line 296) | def _make_minimal_ref_router_v2_actor() -> PPOTFRefRouterSeqActor:
  function _make_minimal_ref_router_v3_actor (line 334) | def _make_minimal_ref_router_v3_actor() -> PPOTFRefRouterV3Actor:
  function test_export_policy_to_onnx_uses_opset_17 (line 370) | def test_export_policy_to_onnx_uses_opset_17(monkeypatch, tmp_path):
  function test_export_policy_to_onnx_restores_training_mode (line 410) | def test_export_policy_to_onnx_restores_training_mode(monkeypatch, tmp_p...
  function test_clone_module_for_cpu_export_does_not_move_live_module (line 466) | def test_clone_module_for_cpu_export_does_not_move_live_module(monkeypat...
  function test_ppotf_actor_export_uses_legacy_torchscript (line 482) | def test_ppotf_actor_export_uses_legacy_torchscript(monkeypatch, tmp_path):
  function test_ppotf_actor_export_onnx_avoids_isnan (line 511) | def test_ppotf_actor_export_onnx_avoids_isnan(tmp_path):
  function test_ppotf_real_transformer_export_onnx_avoids_isnan (line 534) | def test_ppotf_real_transformer_export_onnx_avoids_isnan(tmp_path):
  function test_ppotf_real_moe_transformer_export_reaches_router_ops (line 551) | def test_ppotf_real_moe_transformer_export_reaches_router_ops(tmp_path):
  function test_ppotf_real_moe_transformer_export_exposes_routing_outputs (line 573) | def test_ppotf_real_moe_transformer_export_exposes_routing_outputs(tmp_p...
  function test_ppotf_real_moe_transformer_export_dense_last_uses_actual_moe_indices (line 602) | def test_ppotf_real_moe_transformer_export_dense_last_uses_actual_moe_in...
  function test_ppotf_real_moe_transformer_export_avoids_reduce_log_sum_exp (line 634) | def test_ppotf_real_moe_transformer_export_avoids_reduce_log_sum_exp(
  function test_export_safe_moe_router_matches_training_scores_for_topk1 (line 658) | def test_export_safe_moe_router_matches_training_scores_for_topk1(monkey...
  function test_export_safe_moe_router_matches_training_scores_with_dynamic_bias (line 696) | def test_export_safe_moe_router_matches_training_scores_with_dynamic_bias(
  function test_grouped_moe_router_x_keeps_topk_when_main_input_changes (line 745) | def test_grouped_moe_router_x_keeps_topk_when_main_input_changes(monkeyp...
  function test_grouped_moe_router_x_changes_topk_when_router_input_changes (line 781) | def test_grouped_moe_router_x_changes_topk_when_router_input_changes(
  function test_ref_router_actor_export_keeps_single_obs_input_and_reaches_moe (line 818) | def test_ref_router_actor_export_keeps_single_obs_input_and_reaches_moe(
  function test_ref_router_v2_actor_export_keeps_single_obs_input_and_reaches_moe (line 839) | def test_ref_router_v2_actor_export_keeps_single_obs_input_and_reaches_moe(
  function test_ref_router_v3_actor_export_keeps_single_obs_input_and_reaches_moe (line 868) | def test_ref_router_v3_actor_export_keeps_single_obs_input_and_reaches_moe(
  function test_real_transformer_actor_export_supports_selected_expert_margin (line 897) | def test_real_transformer_actor_export_supports_selected_expert_margin(

FILE: tests/test_algo_base_iteration_logging.py
  function test_log_iteration_uses_checkpoint_start_for_total_iterations (line 10) | def test_log_iteration_uses_checkpoint_start_for_total_iterations():

FILE: tests/test_build_quantization_dataset.py
  function _load_module (line 5) | def _load_module():
  function test_allocate_sample_counts_normalizes_weights_and_matches_total (line 20) | def test_allocate_sample_counts_normalizes_weights_and_matches_total():
  function test_build_quantization_dataset_creates_symlinks (line 42) | def test_build_quantization_dataset_creates_symlinks(tmp_path):
  function test_build_quantization_dataset_caps_each_dataset_at_available_clips (line 76) | def test_build_quantization_dataset_caps_each_dataset_at_available_clips(

FILE: tests/test_cache_curriculum_sampler.py
  function _update_sampler (line 15) | def _update_sampler(
  function _update_sampler_subset (line 35) | def _update_sampler_subset(
  class _ChunkLimitedSampler (line 60) | class _ChunkLimitedSampler:
    method __init__ (line 61) | def __init__(self, *, max_query_size: int) -> None:
    method _checked_indices (line 66) | def _checked_indices(self, window_indices: torch.Tensor) -> torch.Tensor:
    method get_scores_for_indices (line 76) | def get_scores_for_indices(
    method get_window_state_for_indices (line 82) | def get_window_state_for_indices(
    method get_pool_statistics (line 97) | def get_pool_statistics(self) -> dict[str, float]:
  class _FakeTrainDataset (line 107) | class _FakeTrainDataset:
    method __init__ (line 108) | def __init__(self, windows: list[SimpleNamespace]) -> None:
    method __len__ (line 111) | def __len__(self) -> int:
    method close (line 114) | def close(self) -> None:
  function test_sampler_uses_configured_uniform_ratio_immediately (line 118) | def test_sampler_uses_configured_uniform_ratio_immediately():
  function test_completion_rate_relative_improvement_alone_drives_scores (line 129) | def test_completion_rate_relative_improvement_alone_drives_scores():
  function test_sampler_weights_progress_by_remaining_difficulty (line 149) | def test_sampler_weights_progress_by_remaining_difficulty():
  function test_sampler_tracks_cumulative_selection_counts (line 167) | def test_sampler_tracks_cumulative_selection_counts():
  function test_low_completion_plateau_drops_from_prioritized_replay (line 187) | def test_low_completion_plateau_drops_from_prioritized_replay():
  function test_prioritized_windows_persist_beyond_immediate_batch (line 211) | def test_prioritized_windows_persist_beyond_immediate_batch():
  function test_sampler_reports_pool_means_and_membership_churn (line 247) | def test_sampler_reports_pool_means_and_membership_churn():
  function test_sampler_hot_path_avoids_full_dataset_temporaries (line 280) | def test_sampler_hot_path_avoids_full_dataset_temporaries(monkeypatch):
  function test_ppo_logs_only_core_curriculum_metrics (line 337) | def test_ppo_logs_only_core_curriculum_metrics():
  function test_cache_curriculum_dumps_on_scheduled_swap_even_without_state_update (line 382) | def test_cache_curriculum_dumps_on_scheduled_swap_even_without_state_upd...
  function test_update_cache_curriculum_refreshes_prefetched_batch_when_state_changes (line 405) | def test_update_cache_curriculum_refreshes_prefetched_batch_when_state_c...
  function test_cache_curriculum_whole_window_dump_streams_rows_in_chunks (line 442) | def test_cache_curriculum_whole_window_dump_streams_rows_in_chunks(

FILE: tests/test_domain_rand_config_builder.py
  class _DummyEventTermCfg (line 17) | class _DummyEventTermCfg:
    method __init__ (line 18) | def __init__(self, **kwargs):
  class _DummySceneEntityCfg (line 22) | class _DummySceneEntityCfg:
    method __init__ (line 23) | def __init__(self, *args, **kwargs):
    method resolve (line 27) | def resolve(self, _scene):
  function _load_domain_rand_module (line 31) | def _load_domain_rand_module(monkeypatch):
  function test_build_domain_rand_config_skips_non_event_metadata (line 80) | def test_build_domain_rand_config_skips_non_event_metadata(monkeypatch):

FILE: tests/test_eval_mujoco_action_delay.py
  function test_action_delay_cfg_defaults_to_disabled_episode (line 9) | def test_action_delay_cfg_defaults_to_disabled_episode():
  function test_action_delay_cfg_rejects_invalid_delay_type (line 21) | def test_action_delay_cfg_rejects_invalid_delay_type():
  function test_apply_action_delay_passthrough_when_disabled (line 40) | def test_apply_action_delay_passthrough_when_disabled():
  function test_apply_action_delay_episode_reuses_single_sample (line 58) | def test_apply_action_delay_episode_reuses_single_sample(monkeypatch):
  function test_apply_action_delay_step_resamples_each_policy_step (line 86) | def test_apply_action_delay_step_resamples_each_policy_step(monkeypatch):

FILE: tests/test_eval_mujoco_action_ema.py
  function test_action_ema_filter_cfg_reads_erfi_settings (line 7) | def test_action_ema_filter_cfg_reads_erfi_settings():
  function test_action_ema_filter_defaults_to_disabled_for_non_erfi (line 29) | def test_action_ema_filter_defaults_to_disabled_for_non_erfi():
  function test_apply_action_ema_filter_uses_previous_filtered_action (line 51) | def test_apply_action_ema_filter_uses_previous_filtered_action():
  function test_reset_action_ema_filter_clears_state (line 70) | def test_reset_action_ema_filter_clears_state():

FILE: tests/test_eval_mujoco_contact_export.py
  function _build_export_evaluator (line 10) | def _build_export_evaluator(tmp_path: Path):
  function test_save_batch_result_exports_low_level_contact_traces (line 105) | def test_save_batch_result_exports_low_level_contact_traces(tmp_path: Pa...
  function test_dump_robot_augmented_npz_exports_low_level_contact_traces (line 127) | def test_dump_robot_augmented_npz_exports_low_level_contact_traces(
  function test_init_low_level_foot_contact_logging_falls_back_to_ankle_roll_bodies (line 152) | def test_init_low_level_foot_contact_logging_falls_back_to_ankle_roll_bo...

FILE: tests/test_eval_mujoco_s100_horizon_ptq.py
  class _FakeIoNode (line 14) | class _FakeIoNode:
    method __init__ (line 15) | def __init__(self, name, shape):
  function _make_value_info (line 20) | def _make_value_info(name, shape):
  function _make_fake_onnx_model (line 29) | def _make_fake_onnx_model():
  function _make_evaluator (line 45) | def _make_evaluator(model_path: Path, bc_path: Path | None = None):
  function test_load_policy_falls_back_to_horizon_quantized_bc_for_ptq_onnx (line 63) | def test_load_policy_falls_back_to_horizon_quantized_bc_for_ptq_onnx(
  function test_load_policy_resolves_common_horizon_runtime_artifact_names (line 127) | def test_load_policy_resolves_common_horizon_runtime_artifact_names(
  function test_load_policy_raises_original_error_when_ptq_fallback_bc_missing (line 178) | def test_load_policy_raises_original_error_when_ptq_fallback_bc_missing(
  function test_load_policy_keeps_standard_onnxruntime_path_for_regular_onnx (line 204) | def test_load_policy_keeps_standard_onnxruntime_path_for_regular_onnx(
  function test_load_policy_prefers_explicit_bc_path_for_inference_and_onnx_for_metadata (line 252) | def test_load_policy_prefers_explicit_bc_path_for_inference_and_onnx_for...
  function test_bc_runtime_run_normalizes_inputs_for_hbruntime (line 310) | def test_bc_runtime_run_normalizes_inputs_for_hbruntime(monkeypatch, tmp...
  function test_update_policy_raises_clear_error_before_runtime_on_obs_dim_mismatch (line 358) | def test_update_policy_raises_clear_error_before_runtime_on_obs_dim_mism...

FILE: tests/test_eval_mujoco_use_gpu.py
  class _FakeIoNode (line 11) | class _FakeIoNode:
    method __init__ (line 12) | def __init__(self, name, shape):
  function test_load_policy_treats_false_string_use_gpu_as_cpu (line 17) | def test_load_policy_treats_false_string_use_gpu_as_cpu(monkeypatch):
  function test_create_ray_evaluator_preserves_use_gpu_false (line 63) | def test_create_ray_evaluator_preserves_use_gpu_false(monkeypatch):
  function test_run_mujoco_sim2sim_eval_preserves_use_gpu_false (line 81) | def test_run_mujoco_sim2sim_eval_preserves_use_gpu_false(

FILE: tests/test_eval_onnx_io_dump.py
  class _Config (line 18) | class _Config(SimpleNamespace):
    method get (line 19) | def get(self, key, default=None):
  function test_save_onnx_io_dump_stacks_per_frame_inputs_and_outputs (line 23) | def test_save_onnx_io_dump_stacks_per_frame_inputs_and_outputs(tmp_path):
  function test_write_onnx_io_dump_readme_creates_chinese_loading_instructions (line 83) | def test_write_onnx_io_dump_readme_creates_chinese_loading_instructions(
  function test_save_batch_result_persists_low_level_torque_dump_and_dt (line 95) | def test_save_batch_result_persists_low_level_torque_dump_and_dt(tmp_path):
  function test_save_batch_result_persists_moe_routing_tensors (line 147) | def test_save_batch_result_persists_moe_routing_tensors(tmp_path):
  function test_dump_robot_augmented_npz_persists_moe_routing_tensors (line 207) | def test_dump_robot_augmented_npz_persists_moe_routing_tensors(tmp_path):
  function test_ray_actor_run_clip_overwrites_existing_outputs_and_sidecar (line 265) | def test_ray_actor_run_clip_overwrites_existing_outputs_and_sidecar(tmp_...
  function test_ray_actor_skips_sidecar_for_non_default_model_type (line 325) | def test_ray_actor_skips_sidecar_for_non_default_model_type(tmp_path):
  function test_ray_actor_treats_empty_model_type_as_default_holomotion (line 369) | def test_ray_actor_treats_empty_model_type_as_default_holomotion(tmp_path):
  function test_ray_actor_init_uses_configured_evaluator_module (line 414) | def test_ray_actor_init_uses_configured_evaluator_module(

FILE: tests/test_evaluation_metrics.py
  function _make_eval_data (line 14) | def _make_eval_data(
  function test_per_frame_metrics_include_torque_jump_diagnostics (line 102) | def test_per_frame_metrics_include_torque_jump_diagnostics():
  function test_offline_evaluate_dumped_npzs_exports_torque_jump_summary_metrics (line 142) | def test_offline_evaluate_dumped_npzs_exports_torque_jump_summary_metrics(
  function test_compute_clip_stability_summary_detects_chatter_and_support_events (line 215) | def test_compute_clip_stability_summary_detects_chatter_and_support_even...
  function test_compute_clip_stability_summary_reports_expert_switching_js_div (line 320) | def test_compute_clip_stability_summary_reports_expert_switching_js_div():
  function test_offline_evaluate_dumped_npzs_reports_nan_contact_metrics_for_legacy_npz (line 364) | def test_offline_evaluate_dumped_npzs_reports_nan_contact_metrics_for_le...

FILE: tests/test_isaaclab_termination.py
  class _Scene (line 27) | class _Scene(SimpleNamespace):
    method __getitem__ (line 28) | def __getitem__(self, key):
  function _load_isaaclab_termination_module (line 32) | def _load_isaaclab_termination_module(module_name: str):
  function test_wholebody_mpjpe_far_flags_envs_above_mean_error_threshold (line 115) | def test_wholebody_mpjpe_far_flags_envs_above_mean_error_threshold():
  function test_wholebody_mpjpe_far_uses_immediate_next_reference (line 142) | def test_wholebody_mpjpe_far_uses_immediate_next_reference():
  function test_keybody_ref_pos_far_uses_immediate_next_reference (line 164) | def test_keybody_ref_pos_far_uses_immediate_next_reference():
  function test_ref_gravity_projection_far_uses_immediate_next_reference (line 200) | def test_ref_gravity_projection_far_uses_immediate_next_reference():
  function test_build_terminations_config_registers_wholebody_mpjpe_far (line 237) | def test_build_terminations_config_registers_wholebody_mpjpe_far():
  function test_build_terminations_config_resolves_native_isaaclab_termination (line 258) | def test_build_terminations_config_resolves_native_isaaclab_termination():
  function test_build_terminations_config_raises_on_unknown_termination (line 279) | def test_build_terminations_config_raises_on_unknown_termination():

FILE: tests/test_mean_process_5metrics.py
  function test_macro_report_appends_torque_jump_columns_to_legacy_tables (line 34) | def test_macro_report_appends_torque_jump_columns_to_legacy_tables(

FILE: tests/test_motion_cache_gather_state.py
  function _expected_field (line 21) | def _expected_field(
  class MotionCacheGatherStateTests (line 36) | class MotionCacheGatherStateTests(unittest.TestCase):
    method test_normalize_online_filter_cfg_includes_velocity_smoothing_sigmas (line 37) | def test_normalize_online_filter_cfg_includes_velocity_smoothing_sigmas(
    method test_normalize_online_filter_cfg_uses_fk_sigma_fallback_defaults (line 58) | def test_normalize_online_filter_cfg_uses_fk_sigma_fallback_defaults(s...
    method test_build_motion_datasets_from_cfg_passes_fk_sigma_fallback (line 67) | def test_build_motion_datasets_from_cfg_passes_fk_sigma_fallback(self):
    method test_build_motion_datasets_from_cfg_defaults_fk_sigma_fallback (line 95) | def test_build_motion_datasets_from_cfg_defaults_fk_sigma_fallback(self):
    method test_gather_tensor_returns_expected_values (line 122) | def test_gather_tensor_returns_expected_values(self):
    method test_gather_tensor_reflects_updated_indices_without_cached_state (line 182) | def test_gather_tensor_reflects_updated_indices_without_cached_state(s...
    method test_cpu_fk_transform_forwards_explicit_vel_smoothing_sigma (line 236) | def test_cpu_fk_transform_forwards_explicit_vel_smoothing_sigma(self):
    method test_cpu_fk_transform_defaults_vel_smoothing_sigma_to_two (line 265) | def test_cpu_fk_transform_defaults_vel_smoothing_sigma_to_two(self):
    method test_hdf5_v2_sample_exposes_zero_cutoff_metadata_when_disabled (line 289) | def test_hdf5_v2_sample_exposes_zero_cutoff_metadata_when_disabled(self):
    method test_hdf5_v2_sample_exposes_sampled_cutoff_metadata (line 300) | def test_hdf5_v2_sample_exposes_sampled_cutoff_metadata(self):
    method test_hdf5_v2_sample_generates_filtered_reference_family (line 314) | def test_hdf5_v2_sample_generates_filtered_reference_family(self):
    method test_hdf5_v2_sample_uses_split_fk_smoothing_sigmas (line 336) | def test_hdf5_v2_sample_uses_split_fk_smoothing_sigmas(self):
    method test_hdf5_v2_sample_skips_filtered_reference_family_when_disabled (line 353) | def test_hdf5_v2_sample_skips_filtered_reference_family_when_disabled(
    method _make_stub_root_dof_dataset (line 368) | def _make_stub_root_dof_dataset(

FILE: tests/test_motion_cache_startup.py
  class _FakeDataset (line 15) | class _FakeDataset:
    method __init__ (line 16) | def __init__(self, length: int = 8) -> None:
    method __len__ (line 21) | def __len__(self) -> int:
    method __getitem__ (line 24) | def __getitem__(self, index: int):
    method set_progress_counter (line 27) | def set_progress_counter(self, counter) -> None:
    method close (line 30) | def close(self) -> None:
  class MotionCacheStartupTests (line 34) | class MotionCacheStartupTests(unittest.TestCase):
    method test_motion_cache_uses_explicit_constructor_seed (line 35) | def test_motion_cache_uses_explicit_constructor_seed(self):
    method test_setup_seeding_does_not_reinitialize_motion_cache (line 55) | def test_setup_seeding_does_not_reinitialize_motion_cache(self):
    method test_motion_cache_passes_loader_timeout_to_dataloader (line 79) | def test_motion_cache_passes_loader_timeout_to_dataloader(self):
    method test_motion_cache_disables_progress_bar_in_distributed_runs (line 104) | def test_motion_cache_disables_progress_bar_in_distributed_runs(self):
    method test_motion_cache_keeps_progress_bar_for_local_runs (line 126) | def test_motion_cache_keeps_progress_bar_for_local_runs(self):
    method test_motion_cache_requires_positive_loader_timeout (line 148) | def test_motion_cache_requires_positive_loader_timeout(self):

FILE: tests/test_motion_tracking_command_reference_prefix.py
  class MotionTrackingCommandReferencePrefixTests (line 11) | class MotionTrackingCommandReferencePrefixTests(unittest.TestCase):
    method test_ft_ref_prefix_uses_filtered_tensor_when_present (line 12) | def test_ft_ref_prefix_uses_filtered_tensor_when_present(self):
    method test_ft_ref_prefix_requires_filtered_tensor (line 21) | def test_ft_ref_prefix_requires_filtered_tensor(self):
    method test_ref_prefix_falls_back_to_unprefixed_tensor (line 29) | def test_ref_prefix_falls_back_to_unprefixed_tensor(self):
    method test_ref_prefix_prefers_prefixed_tensor_when_present (line 38) | def test_ref_prefix_prefers_prefixed_tensor_when_present(self):

FILE: tests/test_motion_tracking_timing.py
  class _DummyConfig (line 19) | class _DummyConfig:
    method __init__ (line 20) | def __init__(self, *args, **kwargs):
  function _install_fake_motion_command_deps (line 25) | def _install_fake_motion_command_deps(monkeypatch):
  function _load_motion_command_module (line 167) | def _load_motion_command_module(monkeypatch):
  function test_immediate_next_reference_getters_use_slot_one (line 179) | def test_immediate_next_reference_getters_use_slot_one(monkeypatch):
  function test_update_command_skips_just_reset_envs (line 224) | def test_update_command_skips_just_reset_envs(monkeypatch):
  function test_update_command_resumes_advancing_after_reset_step (line 246) | def test_update_command_resumes_advancing_after_reset_step(monkeypatch):
  function test_mpjpe_metrics_use_immediate_next_reference (line 268) | def test_mpjpe_metrics_use_immediate_next_reference(monkeypatch):
  function test_mpkpe_metrics_use_immediate_next_reference (line 298) | def test_mpkpe_metrics_use_immediate_next_reference(monkeypatch):

FILE: tests/test_mujoco_filtered_ref_compat.py
  function _make_minimal_motion_npz (line 34) | def _make_minimal_motion_npz(path: Path, *, include_cutoff: bool) -> None:
  function test_policy_obs_list_accepts_shared_cutoff_term (line 53) | def test_policy_obs_list_accepts_shared_cutoff_term():
  function test_cutoff_obs_getters_use_current_frame_and_default_zero (line 68) | def test_cutoff_obs_getters_use_current_frame_and_default_zero():
  function test_policy_obs_list_v2_uses_only_actor_schema_terms (line 84) | def test_policy_obs_list_v2_uses_only_actor_schema_terms():
  function test_load_specific_motion_loads_cutoff_metadata_with_zero_fallback (line 101) | def test_load_specific_motion_loads_cutoff_metadata_with_zero_fallback():

FILE: tests/test_obs_norm_compile.py
  function _make_actor_with_obs_norm (line 7) | def _make_actor_with_obs_norm(obs_dim: int = 16) -> PPOTFActor:
  function test_obs_norm_update_is_not_captured_by_dynamo (line 16) | def test_obs_norm_update_is_not_captured_by_dynamo():

FILE: tests/test_observation_frames.py
  class _DummyConfig (line 19) | class _DummyConfig:
    method __init__ (line 20) | def __init__(self, *args, **kwargs):
  class _Scene (line 25) | class _Scene(SimpleNamespace):
    method __getitem__ (line 26) | def __getitem__(self, key):
  function _identity_quat (line 30) | def _identity_quat(*shape: int) -> torch.Tensor:
  function _load_observation_module (line 36) | def _load_observation_module(monkeypatch):
  function test_ref_future_observations_can_limit_num_frames (line 145) | def test_ref_future_observations_can_limit_num_frames(monkeypatch):
  function _make_env (line 239) | def _make_env():
  function test_global_robot_bodylink_pos_is_in_environment_frame (line 264) | def test_global_robot_bodylink_pos_is_in_environment_frame(monkeypatch):
  function test_root_rel_robot_bodylink_pos_uses_consistent_env_frame (line 276) | def test_root_rel_robot_bodylink_pos_uses_consistent_env_frame(monkeypat...
  function test_global_anchor_pos_diff_uses_environment_frame_consistently (line 294) | def test_global_anchor_pos_diff_uses_environment_frame_consistently(
  function test_build_additive_uniform_noise_cfg_supports_optional_z_override (line 307) | def test_build_additive_uniform_noise_cfg_supports_optional_z_override(
  function test_build_additive_uniform_noise_cfg_keeps_scalar_bounds_without_z_override (line 330) | def test_build_additive_uniform_noise_cfg_keeps_scalar_bounds_without_z_...

FILE: tests/test_onnx_attention_export.py
  class _ExportAttentionModule (line 19) | class _ExportAttentionModule(nn.Module):
    method forward (line 20) | def forward(
  class _ExportCausalAttentionModule (line 37) | class _ExportCausalAttentionModule(nn.Module):
    method forward (line 38) | def forward(
  function _export_model (line 54) | def _export_model(
  function _export_op_types (line 72) | def _export_op_types(
  function _run_onnx (line 84) | def _run_onnx(
  function test_export_safe_attention_uses_native_bool_mask_outside_export (line 104) | def test_export_safe_attention_uses_native_bool_mask_outside_export(
  function test_export_safe_attention_matches_sdpa_for_valid_masks (line 151) | def test_export_safe_attention_matches_sdpa_for_valid_masks():
  function test_legacy_attention_export_avoids_isnan (line 184) | def test_legacy_attention_export_avoids_isnan():
  function test_legacy_attention_export_ort_matches_pytorch_for_future_mask (line 203) | def test_legacy_attention_export_ort_matches_pytorch_for_future_mask():
  function test_legacy_attention_export_ort_matches_pytorch_for_causal_path (line 238) | def test_legacy_attention_export_ort_matches_pytorch_for_causal_path():
  function test_legacy_attention_export_ort_matches_pytorch_for_kv_mask (line 265) | def test_legacy_attention_export_ort_matches_pytorch_for_kv_mask():

FILE: tests/test_onnx_export.py
  class _FakeEntry (line 7) | class _FakeEntry:
    method __init__ (line 8) | def __init__(self):
  class _FakeTensor (line 13) | class _FakeTensor:
    method __init__ (line 14) | def __init__(self, values):
    method __getitem__ (line 17) | def __getitem__(self, index):
    method cpu (line 20) | def cpu(self):
    method tolist (line 23) | def tolist(self):
  function test_attach_onnx_metadata_uses_default_joint_gains (line 27) | def test_attach_onnx_metadata_uses_default_joint_gains(monkeypatch):

FILE: tests/test_plot_moe_expert_heatmap.py
  function _load_plot_moe_expert_heatmap_module (line 14) | def _load_plot_moe_expert_heatmap_module():
  function _write_eval_npz (line 24) | def _write_eval_npz(path: Path) -> None:
  function test_plot_dump_exports_moe_heatmap_pdf (line 58) | def test_plot_dump_exports_moe_heatmap_pdf(tmp_path):
  function test_selected_expert_weights_are_renormalized_within_selected_ids (line 74) | def test_selected_expert_weights_are_renormalized_within_selected_ids():
  function test_selected_expert_heatmap_only_colors_activated_experts (line 108) | def test_selected_expert_heatmap_only_colors_activated_experts():
  function test_collect_npz_paths_recursively_sorts_directory_entries (line 148) | def test_collect_npz_paths_recursively_sorts_directory_entries(tmp_path):
  function test_plot_input_path_directory_generates_all_heatmaps_with_tqdm (line 163) | def test_plot_input_path_directory_generates_all_heatmaps_with_tqdm(
  function test_plot_dump_requires_2d_robot_dof_torque (line 219) | def test_plot_dump_requires_2d_robot_dof_torque(tmp_path):

FILE: tests/test_plot_state_series.py
  function _load_plot_state_series_module (line 13) | def _load_plot_state_series_module():
  function test_plot_dump_exports_time_matched_scalar_series (line 23) | def test_plot_dump_exports_time_matched_scalar_series(tmp_path):

FILE: tests/test_ppo_checkpoint_sigma_override.py
  class _DummyActor (line 10) | class _DummyActor(nn.Module):
    method __init__ (line 11) | def __init__(self, events: list[str]):
    method override_sigma (line 17) | def override_sigma(self, sigma_override):
  function test_ppo_load_reapplies_sigma_override_after_checkpoint_restore (line 22) | def test_ppo_load_reapplies_sigma_override_after_checkpoint_restore():
  function test_ppo_load_skips_optimizer_restore_during_offline_eval (line 80) | def test_ppo_load_skips_optimizer_restore_during_offline_eval():
  function test_ppo_load_skips_incompatible_optimizer_state_restore (line 119) | def test_ppo_load_skips_incompatible_optimizer_state_restore():
  function test_checkpoint_state_to_cpu_moves_nested_tensors (line 177) | def test_checkpoint_state_to_cpu_moves_nested_tensors():

FILE: tests/test_ppo_entropy_annealing.py
  function _build_entropy_algo (line 13) | def _build_entropy_algo(
  function test_entropy_coef_is_constant_when_annealing_disabled (line 32) | def test_entropy_coef_is_constant_when_annealing_disabled():
  function test_entropy_coef_decays_and_respects_resumed_total_iterations (line 44) | def test_entropy_coef_decays_and_respects_resumed_total_iterations():
  function test_entropy_coef_clamps_to_zero_at_and_after_zero_point (line 58) | def test_entropy_coef_clamps_to_zero_at_and_after_zero_point():
  function test_validate_entropy_schedule_config_rejects_invalid_values (line 82) | def test_validate_entropy_schedule_config_rejects_invalid_values(
  function test_learn_sets_current_iteration_before_each_update (line 95) | def test_learn_sets_current_iteration_before_each_update():

FILE: tests/test_ppo_symmetry_loss.py
  class _DummyAccelerator (line 14) | class _DummyAccelerator:
    method autocast (line 15) | def autocast(self):
    method backward (line 18) | def backward(self, loss):
    method clip_grad_norm_ (line 21) | def clip_grad_norm_(self, parameters, max_norm):
    method reduce (line 24) | def reduce(self, tensor, reduction="mean"):
  class _DummyActor (line 28) | class _DummyActor(nn.Module):
    method __init__ (line 29) | def __init__(self, num_actions: int, mirror_offset: float):
    method forward (line 35) | def forward(
  class _DummyCritic (line 62) | class _DummyCritic(nn.Module):
    method __init__ (line 63) | def __init__(self):
    method forward (line 67) | def forward(self, obs_td: TensorDict, *, update_obs_norm: bool = True):
  class _SingleBatchStorage (line 75) | class _SingleBatchStorage:
    method __init__ (line 76) | def __init__(self, batch):
    method iter_minibatches (line 86) | def iter_minibatches(self, num_mini_batches: int, num_epochs: int):
    method clear (line 90) | def clear(self):
  function _install_mirror_stub (line 94) | def _install_mirror_stub():
  function test_setup_symmetry_builds_expected_dof_permutation_and_signs (line 149) | def test_setup_symmetry_builds_expected_dof_permutation_and_signs():
  function test_mirror_actor_obs_uses_slash_qualified_actor_terms_only (line 232) | def test_mirror_actor_obs_uses_slash_qualified_actor_terms_only():
  function test_update_reports_symmetry_loss_only_for_velocity_tracking (line 276) | def test_update_reports_symmetry_loss_only_for_velocity_tracking():

FILE: tests/test_ppo_tf_aux_keybody.py
  function _make_aux_policy (line 23) | def _make_aux_policy(
  function _make_aux_actor (line 71) | def _make_aux_actor() -> PPOTFActor:
  function _make_aux_command_policy (line 92) | def _make_aux_command_policy(
  function _make_temporal_aux_actor (line 134) | def _make_temporal_aux_actor() -> PPOTFActor:
  function _make_temporal_only_aux_actor (line 155) | def _make_temporal_only_aux_actor() -> PPOTFActor:
  function test_rollout_storage_allocates_ref_and_robot_keybody_targets (line 161) | def test_rollout_storage_allocates_ref_and_robot_keybody_targets():
  function test_grouped_moe_policy_returns_keybody_position_predictions (line 187) | def test_grouped_moe_policy_returns_keybody_position_predictions():
  function test_grouped_moe_policy_omits_denoise_predictions_when_weights_zero (line 205) | def test_grouped_moe_policy_omits_denoise_predictions_when_weights_zero():
  function test_ppotf_actor_sequence_logp_emits_actor_facing_dof_denoise_keys (line 220) | def test_ppotf_actor_sequence_logp_emits_actor_facing_dof_denoise_keys():
  function test_grouped_moe_policy_default_layout_keeps_dense_first_and_moe_tail (line 244) | def test_grouped_moe_policy_default_layout_keeps_dense_first_and_moe_tai...
  function test_grouped_moe_policy_dense_layer_at_last_keeps_only_middle_layers_moe (line 258) | def test_grouped_moe_policy_dense_layer_at_last_keeps_only_middle_layers...
  function test_grouped_moe_policy_dense_layer_at_last_allows_shallow_fully_dense (line 283) | def test_grouped_moe_policy_dense_layer_at_last_allows_shallow_fully_den...
  function test_grouped_moe_policy_command_recon_uses_live_router_features (line 298) | def test_grouped_moe_policy_command_recon_uses_live_router_features():
  function test_grouped_moe_policy_freeze_router_detaches_router_features_and_params (line 329) | def test_grouped_moe_policy_freeze_router_detaches_router_features_and_p...
  function test_grouped_moe_policy_loads_legacy_aux_command_recon_head_keys (line 363) | def test_grouped_moe_policy_loads_legacy_aux_command_recon_head_keys():
  function test_grouped_moe_policy_ignores_legacy_aux_command_recon_head_keys_when_disabled (line 389) | def test_grouped_moe_policy_ignores_legacy_aux_command_recon_head_keys_w...
  function test_grouped_moe_policy_clears_router_cache_before_deepcopy (line 412) | def test_grouped_moe_policy_clears_router_cache_before_deepcopy():
  function test_grouped_moe_block_tracks_least_utilized_expert_stats (line 443) | def test_grouped_moe_block_tracks_least_utilized_expert_stats():
  function test_grouped_moe_block_tracks_dead_expert_margin_to_topk_loss (line 471) | def test_grouped_moe_block_tracks_dead_expert_margin_to_topk_loss():
  function test_grouped_moe_block_tracks_selected_expert_margin_to_unselected (line 524) | def test_grouped_moe_block_tracks_selected_expert_margin_to_unselected():
  function test_ppotf_summarize_moe_layer_stats_includes_least_utilized_metrics (line 581) | def test_ppotf_summarize_moe_layer_stats_includes_least_utilized_metrics():
  function test_compute_routed_expert_orthogonal_loss_uses_active_experts_only (line 613) | def test_compute_routed_expert_orthogonal_loss_uses_active_experts_only():
  function test_compute_routed_expert_orthogonal_loss_returns_zero_below_two_active (line 654) | def test_compute_routed_expert_orthogonal_loss_returns_zero_below_two_ac...
  function test_ppotf_actor_sequence_logp_emits_router_features_for_aux_router_losses (line 679) | def test_ppotf_actor_sequence_logp_emits_router_features_for_aux_router_...
  function test_ppotf_actor_sequence_logp_emits_only_router_features_for_temporal_only_aux (line 703) | def test_ppotf_actor_sequence_logp_emits_only_router_features_for_tempor...
  function test_masked_adjacent_router_js_averages_only_valid_adjacent_tokens (line 727) | def test_masked_adjacent_router_js_averages_only_valid_adjacent_tokens():
  function test_masked_adjacent_router_normed_smooth_l1_averages_only_valid_adjacent_tokens (line 765) | def test_masked_adjacent_router_normed_smooth_l1_averages_only_valid_adj...
  function test_masked_aux_keybody_mse_averages_only_valid_tokens (line 808) | def test_masked_aux_keybody_mse_averages_only_valid_tokens():
  function test_masked_aux_huber_averages_only_valid_tokens (line 819) | def test_masked_aux_huber_averages_only_valid_tokens():
  function test_setup_configs_rejects_router_aux_terms_outside_motion_tracking (line 835) | def test_setup_configs_rejects_router_aux_terms_outside_motion_tracking():
  function test_setup_configs_rejects_unknown_router_switch_penalty_metric (line 851) | def test_setup_configs_rejects_unknown_router_switch_penalty_metric():
  function test_setup_configs_reads_dead_expert_margin_to_topk_only (line 873) | def test_setup_configs_reads_dead_expert_margin_to_topk_only():
  function test_setup_configs_reads_selected_expert_margin_to_unselected (line 901) | def test_setup_configs_reads_selected_expert_margin_to_unselected():
  function test_setup_configs_reads_aux_router_future_recon (line 943) | def test_setup_configs_reads_aux_router_future_recon():
  function test_setup_configs_reads_router_expert_orthogonal (line 972) | def test_setup_configs_reads_router_expert_orthogonal():
  function test_setup_configs_rejects_router_expert_orthogonal_without_dead_margin (line 996) | def test_setup_configs_rejects_router_expert_orthogonal_without_dead_mar...
  function test_build_transition_uses_filtered_residual_targets_for_denoise_outputs (line 1014) | def test_build_transition_uses_filtered_residual_targets_for_denoise_out...
  function test_build_transition_rejects_mismatched_denoise_dof_target_shape (lin

[
  {
    "path": ".gitattributes",
    "chars": 836,
    "preview": "*.ipynb filter=lfs diff=lfs merge=lfs -text\n*.pt filter=lfs diff=lfs merge=lfs -text\n*.obj filter=lfs diff=lfs merge=lfs"
  },
  {
    "path": ".githooks/README.md",
    "chars": 703,
    "preview": "# Git hooks\n\nPre-commit runs [ruff](https://docs.astral.sh/ruff/) format on staged Python files (using `train.env` for t"
  },
  {
    "path": ".githooks/pre-commit",
    "chars": 647,
    "preview": "#!/bin/bash\n# Run ruff format on staged Python files before commit.\n# Use from holomotion repo root (standalone clone or"
  },
  {
    "path": ".gitignore",
    "chars": 928,
    "preview": "# ignore logs and cache\nlogs/\nlogs_eval/\ndata/\noutputs/\n.archive/\ntmp/\n\n# ignore deployment bag_record, install, log\ndep"
  },
  {
    "path": ".gitlab-ci.yml",
    "chars": 146,
    "preview": "\nworkflow:\n  rules:\n    - if: $CI_PIPELINE_SOURCE == 'merge_request_event'\n\njob1:\n  script:\n    - echo \"This job runs in"
  },
  {
    "path": ".gitmodules",
    "chars": 1588,
    "preview": "[submodule \"thirdparties/SMPLSim\"]\npath = thirdparties/SMPLSim\nurl = https://github.com/ZhengyiLuo/SMPLSim\nbranch = mast"
  },
  {
    "path": "LICENSE",
    "chars": 11343,
    "preview": "                                 Apache License\n                           Version 2.0, January 2004\n                   "
  },
  {
    "path": "Makefile",
    "chars": 1036,
    "preview": "# Variables\nPY_SRC := holomotion/  # Your Python code directory\nRUFF := ruff  # Assumes Ruff is installed locally\nPYTEST"
  },
  {
    "path": "NOTICE",
    "chars": 3395,
    "preview": "\n\n=======================================================================\nASAP's MIT License\n==========================="
  },
  {
    "path": "README.md",
    "chars": 8755,
    "preview": "<div align=\"center\">\n\n<img src=\"assets/media/holomotion_logo_text.png\" alt=\"HoloMotion Logo\" width=\"500\"/>\n\n---\n\n[![Pyth"
  },
  {
    "path": "assets/robots/unitree/G1/29dof/g1_29dof.xml",
    "chars": 35827,
    "preview": "<mujoco model=\"g1_29dof\">\n  <compiler angle=\"radian\" meshdir=\"../meshes\" />\n\n  <default>\n    <default class=\"torso_motor"
  },
  {
    "path": "assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.urdf",
    "chars": 34567,
    "preview": "<robot name=\"g1_29dof_rev_1_0\">\r\n  <material name=\"dark\">\r\n    <color rgba=\"0.2 0.2 0.2 1\"/>\r\n  </material>\r\n  <material"
  },
  {
    "path": "assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.xml",
    "chars": 26975,
    "preview": "<mujoco model=\"g1_29dof_rev_1_0\">\n  <compiler angle=\"radian\" meshdir=\"../meshes\"/>\n\n  <statistic meansize=\"0.144785\" ext"
  },
  {
    "path": "assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0_s100.urdf",
    "chars": 35881,
    "preview": "<robot name=\"g1_29dof_rev_1_0\">\r\n  <material name=\"dark\">\r\n    <color rgba=\"0.2 0.2 0.2 1\"/>\r\n  </material>\r\n  <material"
  },
  {
    "path": "assets/robots/unitree/G1/29dof/scene_29dof.xml",
    "chars": 1597,
    "preview": "<mujoco model=\"g1_29dof scene\">\n  <include file=\"g1_29dof.xml\"/>\n\n  <!-- setup scene -->\n  <statistic center=\"0.0 0.0 1."
  },
  {
    "path": "assets/test_data/motion_retargeting/ACCAD/Male1Walking_c3d/Walk_B10_-_Walk_turn_left_45_stageii.npz",
    "chars": 132,
    "preview": "version https://git-lfs.github.com/spec/v1\noid sha256:738f96eb1767e281d78631ca697079adefb5f171d581acd622a27740f2503b4e\ns"
  },
  {
    "path": "deploy.env",
    "chars": 706,
    "preview": "export CONDA_BASE=$(conda info --base)\nexport Deploy_CONDA_PREFIX=\"$CONDA_BASE/envs/holomotion_deploy\"\n\nexport CUDA_HOME"
  },
  {
    "path": "deployment/deploy_environment.sh",
    "chars": 5088,
    "preview": "#!/bin/bash\n##############################################################################\n# HoloMotion Environment Depl"
  },
  {
    "path": "deployment/holomotion_teleop/holomotion_teleop_node.py",
    "chars": 27797,
    "preview": "#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\"\"\"\nSingle-process teleoperation pipeline.\n\nThis node reads raw Pico body"
  },
  {
    "path": "deployment/holomotion_teleop/holomotion_teleop_setup.md",
    "chars": 6808,
    "preview": "# Holomotion Teleop\n\nSingle-process pipeline for:\n\n`PICO / XRoboToolkit -> SMPL conversion -> GMR retargeting -> robot Z"
  },
  {
    "path": "deployment/holomotion_teleop/setup_holomotion_teleop_x86_ubuntu2204.sh",
    "chars": 7839,
    "preview": "#!/usr/bin/env bash\nset -euo pipefail\n\n# One-click setup script for the holomotion teleoperation environment.\n#\n# This s"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/launch_holomotion_29dof.sh",
    "chars": 2117,
    "preview": "#!/bin/bash\n\n##############################################################################\n# HoloMotion Deployment Laun"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/launch_holomotion_29dof_docker.sh",
    "chars": 2516,
    "preview": "#!/bin/bash\n\n##############################################################################\n# HoloMotion Deployment Laun"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/CMakeLists.txt",
    "chars": 1897,
    "preview": "cmake_minimum_required(VERSION 3.8)\nproject(humanoid_control)\n\n# Default to C99\nif(NOT CMAKE_C_STANDARD)\n  set(CMAKE_C_S"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/config/g1_29dof_holomotion.yaml",
    "chars": 8370,
    "preview": "device: \"cuda\"\npolicy_freq: 50 # Hz\ncontrol_freq: 500 # Hz\nlowstate_topic: \"/lowstate\"\naction_topic: \"/humanoid/action\"\n"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/__init__.py",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/holomotion_fk_root_only.py",
    "chars": 13312,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/obs_builder/__init__.py",
    "chars": 137,
    "preview": "from .obs_builder import PolicyObsBuilder, get_gravity_orientation\n\n__all__ = [\n    \"PolicyObsBuilder\",\n    \"get_gravity"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/obs_builder/obs_builder.py",
    "chars": 7088,
    "preview": "import numpy as np\nimport torch\n\nfrom typing import Dict, List, Sequence, Any, Optional\n\n\ndef get_gravity_orientation(qu"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/policy_node_29dof.py",
    "chars": 147637,
    "preview": "#! /your_dir/miniconda3/envs/holomotion_deploy/bin/python\n\"\"\"\nHoloMotion Policy Node\n\nThis module implements the main po"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/__init__.py",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/command_helper.py",
    "chars": 1745,
    "preview": "from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ as LowCmdGo\nfrom unitree_sdk2py.idl.unitree_hg.msg.dds_ impor"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/maths.py",
    "chars": 20209,
    "preview": "import torch\nimport numpy as np\nimport random\nimport os\n\n\n@torch.jit.script\ndef normalize(x, eps: float = 1e-9):\n    ret"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/motor_crc.py",
    "chars": 1498,
    "preview": "import struct\nimport numpy as np\nfrom ctypes import Structure, c_uint8, c_float, c_uint32, Array\n\n\ndef crc32_core(data_a"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/remote_controller_filter.py",
    "chars": 3121,
    "preview": "import struct\n\n\nclass KeyMap:\n    R1 = 0\n    L1 = 1\n    start = 2\n    select = 3\n    R2 = 4\n    L2 = 5\n    F1 = 6\n    F2"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/rotation_helper.py",
    "chars": 855,
    "preview": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\n\n\ndef get_gravity_orientation(quaternion):\n    qw ="
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/humanoid_policy/utils/rotations.py",
    "chars": 19105,
    "preview": "import torch\nfrom torch import Tensor\nimport torch.nn.functional as F\nfrom humanoid_policy.utils.maths import (\n    norm"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/include/common/motor_crc.h",
    "chars": 1921,
    "preview": "/*****************************************************************\n Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rig"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/include/common/motor_crc_hg.h",
    "chars": 1029,
    "preview": "/*****************************************************************\n Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rig"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/include/common/ros2_sport_client.h",
    "chars": 5305,
    "preview": "#ifndef _ROS2_SPORT_CLIENT_\n#define _ROS2_SPORT_CLIENT_\n#include<iostream>\n#include \"nlohmann/json.hpp\"\n#include \"unitre"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/include/common/wireless_controller.h",
    "chars": 949,
    "preview": "#pragma once\n\n#include \"unitree_go/msg/wireless_controller.hpp\"\n#include <array>\n#include <cstring>\n\nclass KeyMap {\npubl"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/launch/holomotion_29dof_launch.py",
    "chars": 6323,
    "preview": "\"\"\"\nHoloMotion ROS2 Launch Configuration\n\nThis module defines the ROS2 launch configuration for the HoloMotion humanoid "
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/models/.gitkeep",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/motion_data/.gitkeep",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/package.xml",
    "chars": 1165,
    "preview": "<?xml version=\"1.0\"?>\n<?xml-model href=\"http://download.ros.org/schema/package_format3.xsd\" schematypens=\"http://www.w3."
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/resource/humanoid_control",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/setup.cfg",
    "chars": 101,
    "preview": "[develop]\nscript_dir=$base/lib/humanoid_control\n[install]\ninstall_scripts=$base/lib/humanoid_control\n"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/setup.py",
    "chars": 1218,
    "preview": "from setuptools import setup, find_packages\nimport os\n\n\npackage_name = \"humanoid_control\"\n\ndata_files = [\n    (\n        "
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/src/common/motor_crc.cpp",
    "chars": 1789,
    "preview": "#include \"motor_crc.h\"\n\n\nvoid get_crc(unitree_go::msg::LowCmd& msg)\n{\n    LowCmd raw{};\n    memcpy(&raw.head[0], &msg.he"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/src/common/motor_crc_hg.cpp",
    "chars": 1355,
    "preview": "#include \"motor_crc_hg.h\"\n\nvoid get_crc(unitree_hg::msg::LowCmd &msg)\n{\n    LowCmd raw{};\n\n    raw.modePr = msg.mode_pr;"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/src/common/ros2_sport_client.cpp",
    "chars": 5111,
    "preview": "#include \"ros2_sport_client.h\"\n\nvoid SportClient::Damp(unitree_api::msg::Request &req)\n{\n    req.header.identity.api_id "
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/src/common/wireless_controller.cpp",
    "chars": 1995,
    "preview": "#include \"common/wireless_controller.h\"\n#include <cstring>\n\n// Define static constants\nconst int KeyMap::R1 = 0;\nconst i"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/src/src/main_node.cpp",
    "chars": 33455,
    "preview": "/**\n * This example demonstrates how to use ROS2 to send low-level motor commands of\n *unitree g1 robot 29 dof\n **/\n #in"
  },
  {
    "path": "deployment/unitree_g1_ros2_29dof/start_container.sh",
    "chars": 1694,
    "preview": "#!/bin/bash\n\ndocker kill holomotion_orin_deploy\ndocker rm holomotion_orin_deploy\necho \"Old holomotion_orin_deploy contai"
  },
  {
    "path": "docs/environment_setup.md",
    "chars": 3003,
    "preview": "# Environment Setup\n\n## Step 1: Setup Conda\n\nThis project uses conda to manage Python environments. We recommend using ["
  },
  {
    "path": "docs/evaluate_motion_tracking.md",
    "chars": 2268,
    "preview": "## Evaluate the Motion Tracking Model\n\nAfter training for a while and saving model checkpoints, it is necessary to run t"
  },
  {
    "path": "docs/holomotion_motion_file_spec.md",
    "chars": 3679,
    "preview": "## HoloMotion NPZ Format — Keys and Values\n\nThis document lists the exact keys saved in a HoloMotion NPZ and their value"
  },
  {
    "path": "docs/motion_retargeting.md",
    "chars": 2333,
    "preview": "# Motion Retargeting\n\nTransform human motion data into robot-compatible joint trajectories for following training. We su"
  },
  {
    "path": "docs/mujoco_sim2sim.md",
    "chars": 533,
    "preview": "# Sim2Sim Verification\n\nAfter generating the ONNX file from the evaluation stage, you can verify the performance of your"
  },
  {
    "path": "docs/realworld_deployment.md",
    "chars": 16899,
    "preview": "# HoloMotion Deployment Guide\n\nThis guide describes how to set up the deployment environment and run the trained policy "
  },
  {
    "path": "docs/smpl_data_curation.md",
    "chars": 7515,
    "preview": "# Dataset Preparation Guide\n\nThis guide describes the workflow and setup for preparing datasets to train the motion trac"
  },
  {
    "path": "docs/train_motion_tracking.md",
    "chars": 4263,
    "preview": "## Train the Motion Tracking Model\n\nAfter completing motion retargeting, you can train a motion tracking model with Holo"
  },
  {
    "path": "environments/environment_deploy.yaml",
    "chars": 710,
    "preview": "name: holomotion_deploy\nchannels:\n  - pytorch\n  - nvidia  \n  - conda-forge\n  - defaults\n\ndependencies:\n  # Python runtim"
  },
  {
    "path": "environments/environment_train_isaaclab_cu118.yaml",
    "chars": 231,
    "preview": "name: holomotion_train\nchannels:\n  - conda-forge\ndependencies:\n  - python=3.11\n  - pip\n  - mesalib\n  - pip:\n      - -r r"
  },
  {
    "path": "environments/environment_train_isaaclab_cu128.yaml",
    "chars": 231,
    "preview": "name: holomotion_train\nchannels:\n  - conda-forge\ndependencies:\n  - python=3.11\n  - pip\n  - mesalib\n  - pip:\n      - -r r"
  },
  {
    "path": "environments/requirements_base.txt",
    "chars": 601,
    "preview": "isaacsim[all,extscache]==5.0.0\nisaaclab[isaacsim,all]==2.2.0\n\n\nsetuptools\nwheel\nnumpy==1.26.0\nsmplx==0.1.28\nhydra-core=="
  },
  {
    "path": "environments/requirements_deploy.txt",
    "chars": 584,
    "preview": "# Machine Learning Runtime  \nonnxruntime-gpu\n\n# SMPL/SMPLX support\nsmplx==0.1.28\n\n# Configuration management\nhydra-core="
  },
  {
    "path": "environments/requirements_torch_cu118.txt",
    "chars": 151,
    "preview": "--extra-index-url https://download.pytorch.org/whl/cu118\n--extra-index-url https://pypi.nvidia.com\n\ntorch==2.7.0\ntorchvi"
  },
  {
    "path": "environments/requirements_torch_cu128.txt",
    "chars": 171,
    "preview": "--extra-index-url https://download.pytorch.org/whl/cu128\n--extra-index-url https://pypi.nvidia.com\n\ntorch==2.10.0+cu128\n"
  },
  {
    "path": "environments/requirements_torch_cu130.txt",
    "chars": 171,
    "preview": "--extra-index-url https://download.pytorch.org/whl/cu130\n--extra-index-url https://pypi.nvidia.com\n\ntorch==2.10.0+cu130\n"
  },
  {
    "path": "holomotion/config/algo/ppo.yaml",
    "chars": 2638,
    "preview": "# @package _global_\n\nalgo:\n  _target_: holomotion.src.algo.ppo.PPO\n  _recursive_: false\n  config:\n    # --- General Sett"
  },
  {
    "path": "holomotion/config/algo/ppo_tf.yaml",
    "chars": 1896,
    "preview": "# @package _global_\n\ndefaults:\n  - ppo\n\nalgo:\n  _target_: holomotion.src.algo.ppo_tf.PPOTF\n  config:\n    num_steps_per_e"
  },
  {
    "path": "holomotion/config/data_curation/joints2smpl.yaml",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "holomotion/config/data_curation/smplify_base.yaml",
    "chars": 0,
    "preview": ""
  },
  {
    "path": "holomotion/config/env/domain_randomization/NO_domain_rand.yaml",
    "chars": 1645,
    "preview": "# @package _global_\n\ndomain_rand:\n  action_delay:\n    enabled: false\n\n  erfi:\n    enabled: false\n\n  motion_init_perturb:"
  },
  {
    "path": "holomotion/config/env/domain_randomization/domain_rand_medium.yaml",
    "chars": 3126,
    "preview": "# @package _global_\n\ndomain_rand:\n  action_delay:\n    enabled: true\n    min_delay: 0\n    max_delay: 2\n\n  erfi:\n    enabl"
  },
  {
    "path": "holomotion/config/env/domain_randomization/domain_rand_small.yaml",
    "chars": 3131,
    "preview": "# @package _global_\n\ndomain_rand:\n  action_delay:\n    enabled: false\n    min_delay: 0\n    max_delay: 0\n\n  erfi:\n    enab"
  },
  {
    "path": "holomotion/config/env/domain_randomization/domain_rand_strong.yaml",
    "chars": 3125,
    "preview": "# @package _global_\n\ndomain_rand:\n  action_delay:\n    enabled: true\n    min_delay: 0\n    max_delay: 4\n\n  erfi:\n    enabl"
  },
  {
    "path": "holomotion/config/env/motion_tracking.yaml",
    "chars": 5865,
    "preview": "# @package _global_\n\nenv:\n  _target_: holomotion.src.env.motion_tracking.MotionTrackingEnv\n  _recursive_: False\n  config"
  },
  {
    "path": "holomotion/config/env/observations/motion_tracking/obs_motion_tracking_mlp.yaml",
    "chars": 11735,
    "preview": "# @package _global_\n\nobs:\n  context_length: 32\n  n_fut_frames: 10\n  target_fps: 50\n  actor_obs_prefix: \"ref_\"\n  critic_o"
  },
  {
    "path": "holomotion/config/env/observations/motion_tracking/obs_motion_tracking_tf-moe.yaml",
    "chars": 11734,
    "preview": "# @package _global_\n\nobs:\n  context_length: 1\n  n_fut_frames: 10\n  target_fps: 50\n  actor_obs_prefix: \"ref_\"\n  critic_ob"
  },
  {
    "path": "holomotion/config/env/observations/velocity_tracking/obs_velocity_tracking.yaml",
    "chars": 2922,
    "preview": "# @package _global_\n\nobs:\n  context_length: 8\n  n_fut_frames: 0\n  target_fps: 50\n\n  obs_groups:\n    unified:\n      atomi"
  },
  {
    "path": "holomotion/config/env/rewards/motion_tracking/rew_motion_tracking.yaml",
    "chars": 1637,
    "preview": "# @package _global_\n\nrewards:\n  _config:\n    reward_prefix: \"ref_\"\n\n  is_alive:\n    weight: 0.5\n    params: {}\n\n  root_p"
  },
  {
    "path": "holomotion/config/env/rewards/velocity_tracking/rew_velocity_tracking.yaml",
    "chars": 3602,
    "preview": "# @package _global_\n\nrewards:\n  stand_still_action_rate:\n    weight: -1.0\n    params:\n      command_name: base_velocity\n"
  },
  {
    "path": "holomotion/config/env/terminations/NO_termination.yaml",
    "chars": 38,
    "preview": "# @package _global_\n\nterminations: {}\n"
  },
  {
    "path": "holomotion/config/env/terminations/termination_motion_tracking.yaml",
    "chars": 608,
    "preview": "# @package _global_\n\nterminations:\n\n  time_out:\n    time_out: true\n\n  ref_gravity_projection_far:\n    params:\n      thre"
  },
  {
    "path": "holomotion/config/env/terminations/termination_velocity_tracking.yaml",
    "chars": 189,
    "preview": "# @package _global_\n\nterminations:\n  time_out:\n    time_out: true\n\n  root_height_below_minimum:\n    params:\n      minimu"
  },
  {
    "path": "holomotion/config/env/terrain/isaaclab_plane.yaml",
    "chars": 1255,
    "preview": "# @package _global_\n\n# Simple flat terrain generated via IsaacLab height-field TerrainGenerator.\n# Uses random-uniform h"
  },
  {
    "path": "holomotion/config/env/terrain/isaaclab_rough.yaml",
    "chars": 1479,
    "preview": "# @package _global_\n\n# Rough height-field terrain for locomotion training.\n# Uses random-uniform height field to create "
  },
  {
    "path": "holomotion/config/env/velocity_tracking.yaml",
    "chars": 2053,
    "preview": "# @package _global_\n\nenv:\n  _target_: holomotion.src.env.velocity_tracking.VelocityTrackingEnv\n  _recursive_: False\n  co"
  },
  {
    "path": "holomotion/config/evaluation/eval_isaaclab.yaml",
    "chars": 2597,
    "preview": "# @package _global_\n\ndefaults:\n  - /robot: unitree/G1/29dof/29dof_training_isaaclab\n  - /env: motion_tracking\n  - /env/t"
  },
  {
    "path": "holomotion/config/evaluation/eval_mujoco_sim2sim.yaml",
    "chars": 2683,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n\n# Evaluation toggles\nheadless: false # true to run without GUI\nrecord_video: "
  },
  {
    "path": "holomotion/config/evaluation/eval_velocity_tracking.yaml",
    "chars": 2365,
    "preview": "# @package _global_\n\ndefaults:\n  - /robot: unitree/G1/29dof/29dof_training_isaaclab\n  - /env: velocity_tracking\n  - /env"
  },
  {
    "path": "holomotion/config/modules/motion_tracking/motion_tracking_mlp.yaml",
    "chars": 3560,
    "preview": "# @package _global_\n\nmodules:\n  actor:\n    type: MLP\n\n    hidden_norm: none\n    layer_config:\n      hidden_dims:\n       "
  },
  {
    "path": "holomotion/config/modules/motion_tracking/motion_tracking_tf-moe.yaml",
    "chars": 4427,
    "preview": "# @package _global_\n\nmodules:\n  actor:\n    type: ReferenceRoutedGroupedMoETransformerPolicy\n\n    use_checkpointing: fals"
  },
  {
    "path": "holomotion/config/modules/velocity_tracking/velocity_tracking_mlp.yaml",
    "chars": 2107,
    "preview": "# @package _global_\n\nmodules:\n  actor:\n    type: MLP\n    fix_sigma: false\n    noise_std_type: scalar\n    obs_norm:\n     "
  },
  {
    "path": "holomotion/config/motion_retargeting/gmr_to_holomotion.yaml",
    "chars": 1146,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n\nhydra:\n  job:\n    chdir: false\n\nio:\n  src_dir: ???\n  robot_config: ???\n  out_"
  },
  {
    "path": "holomotion/config/motion_retargeting/holomotion_preprocess.yaml",
    "chars": 929,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n\nhydra:\n  job:\n    chdir: false\n\nio:\n  src_root: ???\n  out_root: ???\n\npreproce"
  },
  {
    "path": "holomotion/config/motion_retargeting/kinematic_filter.yaml",
    "chars": 574,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n\nhydra:\n  job:\n    chdir: false\n\nio:\n  dataset_root: \"\" # absolute path to dat"
  },
  {
    "path": "holomotion/config/motion_retargeting/pack_hdf5_database.yaml",
    "chars": 1135,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n  - /robot: unitree/G1/29dof/29dof_training_isaaclab\n\nhydra:\n  job:\n    chdir:"
  },
  {
    "path": "holomotion/config/motion_retargeting/pack_hdf5_v2.yaml",
    "chars": 370,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n  - /robot: unitree/G1/29dof/29dof_training_isaaclab\n\nhydra:\n  job:\n    chdir:"
  },
  {
    "path": "holomotion/config/motion_retargeting/unitree_G1_29dof_retargeting.yaml",
    "chars": 436,
    "preview": "robot:\n  humanoid_type: unitree/G1/29dof\n\n  asset:\n    smpl_dir: \"assets/smpl\"\n    assetRoot: \"./\"\n    assetFileName: \"a"
  },
  {
    "path": "holomotion/config/mujoco_eval/sim2sim.yaml",
    "chars": 706,
    "preview": "# @package _group_\n\ndefaults:\n  - _self_\n\nenabled: false\nmodel_type: \"holomotion\"\n\n# Evaluation toggles\nheadless: false\n"
  },
  {
    "path": "holomotion/config/robot/unitree/G1/29dof/29dof_training_isaaclab.yaml",
    "chars": 15598,
    "preview": "# @package _global_\n\nrobot:\n  humanoid_type: unitree/G1/29dof\n\n  dof_obs_size: 29\n  actions_dim: 29\n  num_bodies: 30\n  n"
  },
  {
    "path": "holomotion/config/robot/unitree/G1/29dof/29dof_training_isaaclab_s100.yaml",
    "chars": 177,
    "preview": "# @package _global_\n\ndefaults:\n  - unitree/G1/29dof/29dof_training_isaaclab\n\nrobot:\n  asset:\n    urdf_file: \"assets/robo"
  },
  {
    "path": "holomotion/config/training/motion_tracking/train_g1_29dof_motion_tracking_mlp.yaml",
    "chars": 562,
    "preview": "# @package _global_\n\ndefaults:\n  - /training: train_base\n  - /algo: ppo\n  - /robot: unitree/G1/29dof/29dof_training_isaa"
  },
  {
    "path": "holomotion/config/training/motion_tracking/train_g1_29dof_motion_tracking_tf-moe.yaml",
    "chars": 570,
    "preview": "# @package _global_\n\ndefaults:\n  - /training: train_base\n  - /algo: ppo_tf\n  - /robot: unitree/G1/29dof/29dof_training_i"
  },
  {
    "path": "holomotion/config/training/train_base.yaml",
    "chars": 450,
    "preview": "# @package _global_\n\ndefaults:\n  - _self_\n  - /mujoco_eval: sim2sim\n\nproject_name: ???\nexperiment_name: ???\n\nnum_envs: ?"
  },
  {
    "path": "holomotion/config/training/velocity_tracking/train_g1_29dof_velocity_tracking_mlp.yaml",
    "chars": 1186,
    "preview": "# @package _global_\n\ndefaults:\n  - /training: train_base\n  - /algo: ppo\n  - /robot: unitree/G1/29dof/29dof_training_isaa"
  },
  {
    "path": "holomotion/scripts/data_curation/convert_to_amass.sh",
    "chars": 237,
    "preview": "source train.env\n\n# 默认原始数据路径\nDATA_ROOT=\"./data/raw_datasets\"\n\n# 如果传入参数就覆盖默认\nif [ ! -z \"$1\" ]; then\n    DATA_ROOT=\"$1\"\nfi"
  },
  {
    "path": "holomotion/scripts/data_curation/filter_smpl_data.sh",
    "chars": 1349,
    "preview": "source train.env\n\n# default json lisy\ndefault_jsonl_list=(\"humanact12\" \"MotionX\" \"OMOMO\" \"ZJU_Mocap\" \"amass\")\njsonl_list"
  },
  {
    "path": "holomotion/scripts/data_curation/video_to_smpl_gvhmr.sh",
    "chars": 919,
    "preview": "export CONDA_BASE=$(conda info --base)\nexport Train_CONDA_PREFIX=\"$CONDA_BASE/envs/gvhmr\"\n\nvideo_folder_root=\"holomotion"
  },
  {
    "path": "holomotion/scripts/data_curation/visualize_smpl_npz.sh",
    "chars": 178,
    "preview": "export CONDA_BASE=$(conda info --base)\nexport Train_CONDA_PREFIX=\"$CONDA_BASE/envs/gvhmr\"\n\n$Train_CONDA_PREFIX/bin/pytho"
  },
  {
    "path": "holomotion/scripts/evaluation/calc_offline_eval_metrics.sh",
    "chars": 1112,
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    "path": "holomotion/scripts/evaluation/eval_mujoco_sim2sim.sh",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/scripts/motion_retargeting/run_motion_retargeting_gmr_bvh.sh",
    "chars": 1065,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/scripts/motion_retargeting/run_motion_retargeting_gmr_smplx.sh",
    "chars": 1063,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/scripts/motion_retargeting/run_motion_retargeting_gmr_to_holomotion.sh",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/scripts/motion_retargeting/run_motion_viz_mujoco.sh",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/scripts/training/train_motion_tracking.sh",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/scripts/training/train_velocity_tracking.sh",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "path": "holomotion/src/algo/algo_base.py",
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    "path": "holomotion/src/algo/algo_utils.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/src/algo/ppo.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/src/algo/ppo_tf.py",
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  {
    "path": "holomotion/src/data_curation/.gitignore",
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    "preview": "_generated/\n"
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  {
    "path": "holomotion/src/data_curation/__init__.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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    "path": "holomotion/src/data_curation/data_smplify.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/src/data_curation/filter/filter.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/src/data_curation/filter/label_data.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/src/data_curation/smpl_npz_to_html.py",
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  {
    "path": "holomotion/src/data_curation/smplify/__init__.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/data_curation/smplify/smplify_humanact12.py",
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    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/data_curation/smplify/smplify_motionx.py",
    "chars": 3512,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/data_curation/smplify/smplify_omomo.py",
    "chars": 12909,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/data_curation/smplify/smplify_zjumocap.py",
    "chars": 4320,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
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  {
    "path": "holomotion/src/data_curation/templates/index_wooden_static.html",
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    "path": "holomotion/src/data_curation/video_to_smpl_gvhmr.py",
    "chars": 20541,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/data_curation/vison_mocap/joints2smpl.py",
    "chars": 4941,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/data_curation/visualize_smpl_npz.py",
    "chars": 10565,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/__init__.py",
    "chars": 1899,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_actions.py",
    "chars": 3175,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_curriculum.py",
    "chars": 23849,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_domain_rand.py",
    "chars": 7190,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_motion_tracking_command.py",
    "chars": 120072,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_observation.py",
    "chars": 68126,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_rewards.py",
    "chars": 85200,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_scene.py",
    "chars": 23372,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_simulator.py",
    "chars": 1514,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_termination.py",
    "chars": 9205,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_terrain.py",
    "chars": 21963,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_utils.py",
    "chars": 3443,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/isaaclab_velocity_tracking_command.py",
    "chars": 16266,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/isaaclab_components/unitree_actuators.py",
    "chars": 18921,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/motion_tracking.py",
    "chars": 23324,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/env/velocity_tracking.py",
    "chars": 15290,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/eval_motion_tracking.py",
    "chars": 6086,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/eval_motion_tracking_single.py",
    "chars": 11911,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/eval_mujoco_sim2sim.py",
    "chars": 177967,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/eval_velocity_tracking.py",
    "chars": 5427,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/find_worst_clips.py",
    "chars": 3046,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/metrics.py",
    "chars": 52033,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/multi_model_metrics_report.py",
    "chars": 15807,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/obs/__init__.py",
    "chars": 137,
    "preview": "from .obs_builder import PolicyObsBuilder, get_gravity_orientation\n\n__all__ = [\n    \"PolicyObsBuilder\",\n    \"get_gravity"
  },
  {
    "path": "holomotion/src/evaluation/obs/obs_builder.py",
    "chars": 7933,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/ray_evaluator_actor.py",
    "chars": 3355,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/evaluation/ray_metrics_postprocess.py",
    "chars": 2629,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/modules/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/modules/agent_modules.py",
    "chars": 98896,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/modules/network_modules.py",
    "chars": 199211,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/gmr_to_holomotion.py",
    "chars": 35919,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/holomotion_fk.py",
    "chars": 33625,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/holomotion_preprocess.py",
    "chars": 43171,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/kinematic_filter.py",
    "chars": 8935,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/pack_hdf5_v2.py",
    "chars": 21066,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/reference_filtering.py",
    "chars": 6384,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/utils/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/utils/_schema.json",
    "chars": 730,
    "preview": "{\n  \"schema\": {\n    \"root_trans_offset\": {\n      \"shape\": [\n        682,\n        3\n      ],\n      \"dtype\": \"float64\"\n   "
  },
  {
    "path": "holomotion/src/motion_retargeting/utils/rotation_conversions.py",
    "chars": 20091,
    "preview": "# Copyright (c) Facebook, Inc. and its affiliates.\n# All rights reserved.\n#\n# This source code is licensed under the BSD"
  },
  {
    "path": "holomotion/src/motion_retargeting/utils/torch_humanoid_batch.py",
    "chars": 25328,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/motion_retargeting/utils/visualize_with_mujoco.py",
    "chars": 19967,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/training/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/training/h5_dataloader.py",
    "chars": 128512,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/training/reference_filter_export.py",
    "chars": 13304,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/training/train.py",
    "chars": 6322,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/utils/__init__.py",
    "chars": 636,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/utils/config.py",
    "chars": 7149,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  },
  {
    "path": "holomotion/src/utils/frame_utils.py",
    "chars": 4658,
    "preview": "# Project HoloMotion\n#\n# Copyright (c) 2024-2026 Horizon Robotics. All Rights Reserved.\n#\n# Licensed under the Apache Li"
  }
]

// ... and 49 more files (download for full content)