Construct identity quaternion with same shape.

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

Spherical linear interpolation between two quaternions.

Resolve task name to the single G1 scene XML path (package data dir).

Updates the camera view pose based on the current viewer origin and the eye and lookat positions. Args: eye: The eye position of

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

Computes observations

Compute torques from actions. Actions can be interpreted as position or velocity targets given to a PD controller, or directly as scaled

Adds a triangle mesh terrain to the simulation, sets parameters based on the cfg.

Draws visualizations for dubugging (slows down simulation a lot). Default behaviour: draws height measurement points

Turn current Isaac sim state into a G1Env-like observation.

Resets DOF position and velocities of selected environmments Positions are randomly selected within 0.5:1.5 x default positions. Velo

Resets ROOT states position and velocities of selected environmments if target_root_states is not None, reset to target_root_states

Adds an arrow to an mjvScene.

Calculate heading direction from quaternion.

Convert quaternion to Euler angles as tensor (assumes w_last=True format).

Path to humanoidverse/data/robots/g1 (scene xmls, meshes, goal_frames). Resolved from package location.

Convert JSON data back to a Gymnasium space.

Load the mesh from the XML file and merge them into the humanoid based on the current pose.

Convert quaternion to angle-axis representation.

Convert quaternions to rotation matrices (assumes wxyz format).

Convert rotations given as quaternions to rotation matrices. Args: quaternions: quaternions with real part first, as ten

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