Takes some iterable that might contain iterables and converts it to a list of lists [of lists... etc] Mainly used for converting the st

Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0.

Get a term for the variational lower-bound. The resulting units are bits (rather than nats, as one might expect). This allow

Return sphere point perpendicular to axis.

Return sphere point perpendicular to axis.

This function should return a distribution to sample action from

Parses a mujoco xml scene description file and returns a Skeleton Tree. We use the model attribute at the root as the name of the tre

Pose should be batch_size x 156

find the quaternion used to rotate v0 to v1

quaternion with its imaginary part negated

Construct a 3D rotation from a valid 3x3 rotation matrices. Reference can be found here: http://www.cg.info.hiroshima-cu.ac.jp/~miyazaki/

Multiply quaternion(s) q0 with quaternion(s) q1. Expects two equally-sized tensors of shape (*, 4), where * denotes any number of dimensions.

Multiply two quaternions. Usual torch rules for broadcasting apply. Args: a: Quaternions as tensor of shape (..., 4), real part

Multiply two quaternions. Usual torch rules for broadcasting apply. Args: a: Quaternions as tensor of shape (..., 4), real part

Multiply two quaternions. Usual torch rules for broadcasting apply. Args: a: Quaternions as tensor of shape (..., 4), real part

Retarget the skeleton state to a target skeleton tree. This is a naive retarget implementation with rough approximations. The functi

transform states before going into value net

Combine two transformation together

update critic

SMPL model constructor Parameters ---------- model_path: str The path to the folder or to the file where the model

Extract the first or third Euler angle from the two members of the matrix which are positive constant times its sine and cosine. Args:

Extract the first or third Euler angle from the two members of the matrix which are positive constant times its sine and cosine. Args:

Extract the first or third Euler angle from the two members of the matrix which are positive constant times its sine and cosine. Args: