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

Args: tcp_motion[:3]: translation defined in the world frame. tcp_motion[3:]: rotation defined in the tcp body frame.

load MJCF file, parse it in mujoco and save it as URDF replicate just the kinematic structure, ignore most dynamics, actuators, etc. only

Function: estimate the wrist pose in camera frame by PnP solving Args: rvec_init: initial guess for rotation

Find the parent element of the specified @child node, recurisvely searching through @root. Args: root (ET.Element): Root of the xml

Extract the elements in 'stream' dict to the overall dictp

Example: >>> generate_link_indices(4) ([2, 3, 4, 3, 4, 4, 0, 0, 0, 0], [1, 1, 1, 2, 2, 3, 1, 2, 3, 4])

Recursively add indentation to an Element

Set the initial state of the robot.

Makes an actual torch.device object from the device specified as either a string or torch.device object. If the device is `cuda` without

Function: calculate M, where dq/dt = M(q) * avel_in_body_frame Input: q: [w, x, y, z]

Function: calculate M, where dq/dt = M(q) * avel_in_space_frame Input: q: [w, x, y, z]

Convert rotations given as rotation matrices to Euler angles in radians. Args: matrix: Rotation matrices as tensor of shape (..., 3,

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

angular error between two quaternions :param q1: (..., 4), torch; quat is (w, x, y, z) :param q2: (..., 4), torch :param epsilon: a s

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

Generate random rotations as 3x3 rotation matrices. Args: n: Number of rotation matrices in a batch to return. dtype: Type t

Returns the current positions and velocities.

Returns the current positions and velocities.

Returns the current positions and velocities.

Rebuld the stream data as a dict named 'stream'

Calculate the relative position error from all fingertips to wrist between the retargeted qpos and the target qpos.

Example: >>> set_dexpilot_cache(4, 0.1, 0.2) (array([False, False, False, False, False, False]), [1, 2, 2], [

Args: joint_limits: shape (n_joint_dof, 2)

Converts the given value to its unsigned representation.

Args: qpos_init: if None, use the current joint positions.

Converts a array string in mujoco xml to np.array. Examples: "0 1 2" => [0, 1, 2] Args: string (str): String to convert

input: velocities: shape [-1, 6] target_frame_relative_quat: target frame's quaternion in current frame [

Args: points: shape (N, 3) frame_pos: current frame pos in target frame, shape (N, 3) frame_quat: current frame pos in ta

Args: points: shape (N, 3) frame_pos: target frame pos in current frame, shape (N, 3) frame_quat: target frame quat in cu

Return: target_hand_kps_in_wrist: target_wrist_pose_in_world: qpos_retarget:

Writes a value to the motors. Args: motor_ids: The motor IDs to write to. value: The value to write to the control ta

Automatically disconnect on destruction.

Enables use as a context manager.

Enables use as a context manager.

Initializes a new reader.