SYMBOL INDEX (80 symbols across 14 files)

FILE: g1_amp_env.py
  class G1AmpEnv (line 22) | class G1AmpEnv(DirectRLEnv):
    method __init__ (line 25) | def __init__(self, cfg: G1AmpEnvCfg, render_mode: str | None = None, *...
    method _setup_scene (line 64) | def _setup_scene(self):
    method _pre_physics_step (line 85) | def _pre_physics_step(self, actions: torch.Tensor):
    method _apply_action (line 89) | def _apply_action(self):
    method _get_observations (line 94) | def _get_observations(self) -> dict:
    method _get_rewards (line 117) | def _get_rewards(self) -> torch.Tensor:
    method _get_dones (line 134) | def _get_dones(self) -> tuple[torch.Tensor, torch.Tensor]:
    method _reset_idx (line 142) | def _reset_idx(self, env_ids: torch.Tensor | None):
    method _reset_strategy_default (line 162) | def _reset_strategy_default(self, env_ids: torch.Tensor) -> tuple[torc...
    method _reset_strategy_random (line 169) | def _reset_strategy_random(
    method collect_reference_motions (line 205) | def collect_reference_motions(self, num_samples: int, current_times: n...
  function quaternion_to_tangent_and_normal (line 236) | def quaternion_to_tangent_and_normal(q: torch.Tensor) -> torch.Tensor:
  function compute_obs (line 247) | def compute_obs(
  function compute_rewards (line 270) | def compute_rewards(

FILE: g1_amp_env_cfg.py
  class G1AmpEnvCfg (line 23) | class G1AmpEnvCfg(DirectRLEnvCfg):
  class G1AmpDanceEnvCfg (line 75) | class G1AmpDanceEnvCfg(G1AmpEnvCfg):
  class G1AmpWalkEnvCfg (line 79) | class G1AmpWalkEnvCfg(G1AmpEnvCfg):

FILE: humanoid_amp_env.py
  class HumanoidAmpEnv (line 22) | class HumanoidAmpEnv(DirectRLEnv):
    method __init__ (line 25) | def __init__(self, cfg: HumanoidAmpEnvCfg, render_mode: str | None = N...
    method _setup_scene (line 52) | def _setup_scene(self):
    method _pre_physics_step (line 77) | def _pre_physics_step(self, actions: torch.Tensor):
    method _apply_action (line 80) | def _apply_action(self):
    method _get_observations (line 84) | def _get_observations(self) -> dict:
    method _get_rewards (line 105) | def _get_rewards(self) -> torch.Tensor:
    method _get_dones (line 108) | def _get_dones(self) -> tuple[torch.Tensor, torch.Tensor]:
    method _reset_idx (line 116) | def _reset_idx(self, env_ids: torch.Tensor | None):
    method _reset_strategy_default (line 136) | def _reset_strategy_default(self, env_ids: torch.Tensor) -> tuple[torc...
    method _reset_strategy_random (line 143) | def _reset_strategy_random(
    method collect_reference_motions (line 179) | def collect_reference_motions(self, num_samples: int, current_times: n...
  function quaternion_to_tangent_and_normal (line 210) | def quaternion_to_tangent_and_normal(q: torch.Tensor) -> torch.Tensor:
  function compute_obs (line 221) | def compute_obs(

FILE: humanoid_amp_env_cfg.py
  class HumanoidAmpEnvCfg (line 24) | class HumanoidAmpEnvCfg(DirectRLEnvCfg):
  class HumanoidAmpDanceEnvCfg (line 78) | class HumanoidAmpDanceEnvCfg(HumanoidAmpEnvCfg):
  class HumanoidAmpRunEnvCfg (line 83) | class HumanoidAmpRunEnvCfg(HumanoidAmpEnvCfg):
  class HumanoidAmpWalkEnvCfg (line 88) | class HumanoidAmpWalkEnvCfg(HumanoidAmpEnvCfg):

FILE: motions/data_convert.py
  function quaternion_inverse (line 63) | def quaternion_inverse(q):
  function quaternion_multiply (line 71) | def quaternion_multiply(q1, q2):
  function compute_angular_velocity (line 81) | def compute_angular_velocity(q_prev, q_next, dt, eps=1e-8):
  function build_pin_robot (line 107) | def build_pin_robot(urdf_path, mesh_dir):
  function main (line 128) | def main():

FILE: motions/motion_loader.py
  class MotionLoader (line 12) | class MotionLoader:
    method __init__ (line 17) | def __init__(self, motion_file: str, device: torch.device) -> None:
    method dof_names (line 51) | def dof_names(self) -> list[str]:
    method body_names (line 56) | def body_names(self) -> list[str]:
    method num_dofs (line 61) | def num_dofs(self) -> int:
    method num_bodies (line 66) | def num_bodies(self) -> int:
    method _interpolate (line 70) | def _interpolate(
    method _slerp (line 101) | def _slerp(
    method _compute_frame_blend (line 161) | def _compute_frame_blend(self, times: np.ndarray) -> tuple[np.ndarray,...
    method sample_times (line 178) | def sample_times(self, num_samples: int, duration: float | None = None...
    method sample (line 198) | def sample(
    method get_dof_index (line 229) | def get_dof_index(self, dof_names: list[str]) -> list[int]:
    method get_body_index (line 247) | def get_body_index(self, body_names: list[str]) -> list[int]:

FILE: motions/motion_viewer.py
  class MotionViewer (line 20) | class MotionViewer:
    method __init__ (line 25) | def __init__(self, motion_file: str, device: torch.device | str = "cpu...
    method _drawing_callback (line 54) | def _drawing_callback(self, frame: int) -> None:
    method show (line 95) | def show(self) -> None:

FILE: motions/record_data.py
  class MotionData (line 34) | class MotionData:
  function smooth_motion_data (line 46) | def smooth_motion_data(motion_data: MotionData, window_size: int = 3) ->...
  class MotionRecorder (line 100) | class MotionRecorder:
    method __init__ (line 103) | def __init__(self, robot, dof_names_to_record: List[str],
    method start_recording (line 136) | def start_recording(self):
    method stop_recording (line 140) | def stop_recording(self):
    method record_frame (line 143) | def record_frame(self, frame_idx: int):
    method get_recorded_data (line 181) | def get_recorded_data(self) -> MotionData | None:
    method save_data (line 223) | def save_data(self, out_file: str, data: MotionData | None = None) -> ...
  function load_motion_data (line 252) | def load_motion_data(file_path: str) -> Optional[MotionData]:

FILE: motions/test/get_joint_name.py
  class TableTopSceneCfg (line 38) | class TableTopSceneCfg(InteractiveSceneCfg):
  function list_robot_prims (line 153) | def list_robot_prims():
  function run_simulator (line 169) | def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveSc...
  function main (line 198) | def main():

FILE: motions/update_pelvis_data.py
  function plot_pelvis_data_2d (line 8) | def plot_pelvis_data_2d(source_data, target_data, source_pelvis_idx, tar...
  function visualize_pelvis_trajectories (line 68) | def visualize_pelvis_trajectories(source_data, target_data, source_pelvi...
  function update_pelvis_data (line 122) | def update_pelvis_data(source_file, target_file, dry_run=False):

FILE: motions/verify_motion.py
  function verify_motion_file (line 33) | def verify_motion_file(npz_file):

FILE: motions/visualize_motion.py
  function visualize_motion (line 30) | def visualize_motion(npz_file):
  function quaternion_to_euler (line 235) | def quaternion_to_euler(q):

FILE: play.py
  function main (line 128) | def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvC...

FILE: train.py
  function main (line 126) | def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvC...