Args: shape: a list or tuple

Helper method for providing a size, or a range to randomize from Args: size (n-array): Array of numbers that explicitly define the s

Return the target joint angles.

Args: rotation vector Return: jacobian ( angular_velocity = jacobian @ derivative_rotation_vector ) Support batch operati

Function: J_l(), which satisfies exp((phi + delta_phi)^) = exp((J_l(phi) @ delta_phi)^) @ exp((phi)^). Reference: visual SLAM 14

Convert rotations given as rotation matrices to axis/angle. Args: matrix: Rotation matrices as tensor of shape (..., 3, 3). Ret

Converts rotation matrices to 6D rotation representation by Zhou et al. [1] by dropping the last row. Note that 6D representation is not uniq

Convert a nested mjcf to a single (self-contained) mjcf.

Creates an actuator tag with attributes specified by @**kwargs. Args: name (str): Name for this actuator joint (str): type o

Creates a body element with attributes specified by @**kwargs. Args: name (str): Name for this body pos (3-array): (x,y,z) 3

Creates a geom element with attributes specified by @**kwargs. NOTE: With the exception of @geom_type, @size, and @pos, if any arg is set to

Creates a inertial element with attributes specified by @**kwargs. Args: pos (3-array): (x,y,z) 3d position of the inertial frame.

Creates a joint tag with attributes specified by @**kwargs. Args: name (str): Name for this joint **kwargs: Specified attrib

Creates a site element with attributes specified by @**kwargs. NOTE: With the exception of @name, @pos, and @size, if any arg is set to

Return the equivalent angle in (-pi, pi].

Args: pointcloud: shape (n_points, 6), positions + colors (0~1)

Args: points: shape (n_points, 3)

Converts an omegaconf DictConfig to a python Dict, respecting variable interpolation.

Calculate J(q1) = d(q1 * q2) / dq2 Args: q1: [w, x, y, z] Return: The J

Args: img_coord: (u, v) z: depth, unit: m.

Permanently prints things on the screen

Outputs a nested dictionory.

input: quat: [w, x, y, z]

Multiply two quaternions representing rotations, returning the quaternion representing their composition, i.e. the versor with nonnegative re

Convert a quaternion to a 3x3 rotation matrix. Parameters: q (array_like): Quaternion in the form [w, x, y, z]. Returns:

Args: q: shape (..., 4)

Args: q: shape (..., 4)

Generate a single random 3x3 rotation matrix. Args: dtype: Type to return device: Device of returned tensor. Default: if Non

Iteratively searches through all elements starting with @root to find all geoms belonging to group 0 and set the corresponding rgba value to

Create a point cloud from an RGB image and a depth image. Args: - rgb_image: The RGB image as a (H, W, 3) numpy array. - depth_image

Converts 6D rotation representation by Zhou et al. [1] to rotation matrix using Gram--Schmidt orthogonalization per Section B of [1]. Arg

Sample points and normals of the points from the mesh. Returns: pointcloud: shape (N, 6), first three for positions and last three fo

Saves the current model xml from @sim at file location @fname. Args: sim (MjSim): XML file to save, in string form fname (st

Sets all a(lpha) field of the rgba attribute to be @alpha for @node and all subnodes used for managing display Args: node (E

Fix equal aspect bug for 3D plots.

formats numpy print

Utility method to iteratively sort all elements based on @tags. This XML ElementTree will be parsed such that all elements with the same key

Simulate one step. Simply updates the current state to the target state, publishes joint_states, and waits for one timestep.

Temporarily prints things on the screen

Args: poses: shape (..., 4, 4) or (4, 4) target_frame_pose: target_frame_pose in current frame, shape (4, 4) Retures:

support batch operation

Takes in a local xml path and returns a full path. if @xml_path is absolute, do nothing if @xml_path is not absolute, load xml th