Updates the camera view at each rendering step.

Convert angle-axis to exponential map.

Convert axis-angle to quaternion (wxyz format).

Convert rotations given as axis/angle to quaternions. Args: axis_angle: Rotations given as a vector in axis angle form,

Calculate heading rotation from quaternion.

Get the dimensionality of the joint in qvel.

Drop a list of nodes from the skeleton and re-compute the local rotation to match the original joint position as much as possible.

Returns a lower precision dtype for the given numpy dtype. Mainly float64 to float32

Perform forward kinematics using the given trajectory and local rotations. Arguments (where B = batch size, J = number of joints):

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

Render frames for each qpos. Only 36-D qpos (7 free + 29 joints) is supported.

Construct a skeleton motion from a skeleton state. The velocities are estimated using second order guassian filter along the last axi

Construct a skeleton motion from a skeleton state vector, global velocity and angular velocity at each joint. :param skeleto

construct arguments to `Vec` according to axis index.

Get the distance and normal of the collision between two geoms.

Get list of dr_* raw observations that are actually being varied in the code (e.g., if ctrl_delay is randomized, then include dr_ctrl_delay observatio

Load expert trajectories from motion library.

Convert the skeleton state into local representation. This will only affects the values of .tensor. If the skeleton state already has

Convert rotation matrix to quaternion (wxyz format).

Convert rotations given as rotation matrices to quaternions. Args: matrix: Rotation matrices as tensor of shape (..., 3, 3). Re

get the name of the parent of the given node :param node_name: the name of the node :type node_name: string :rtype: string

Parse observations for the legged_robot_base class

Get the dimensionality of the joint in qpos.

Normalize quaternion.

Make all the real part of the quaternion positive.

Convert quaternion to angle-axis representation.

Convert quaternion to exponential map.

Given a quaternion representing rotation, get the quaternion representing its inverse. Args: quaternion: Quaternions as tensor o

Convert rotations given as quaternions to axis/angle. Args: quaternions: quaternions with real part first, as tensor of