Update scale of Kp, Kd, rfi lim

Get all the lines and dots needed to draw the skeleton state

Get all the velocity and angular velocity lines

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

Args: points: (..., N, 3) T: (..., 4, 4) Returns: (..., N, 3)

Args: joints: (B, J, 3), in the start-frame, ay-coordinate Returns: if inverse == False: T_ayfz2ay: (B, 4, 4)

Get the rotation matrix on the top-left corner of a Euclidean transformation matrix

Construct a transform from a Euclidean transformation matrix

Get the translation vector located at the last column of the matrix

Convert Euler angles (radians) to quaternion (xyzw)

We evaluate policy’s ability to imitate the reference motion by comparing the tracking error of the global body position Eg-mpjpe (mm), the root-

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

xz-plane is the ground plane Args: root_points: (L, 3), to decide center vert_points: (L, V, 3), to decide scale

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

Visualize a skeleton state :param skeleton_state: :param task_name: :type skeleton_state: SkeletonState :type task_name: string,

The (angle, axis) representation of the rotation. The axis is normalized to unit length. The angle is guaranteed to be between [0, pi].

quaternion with its imaginary part negated

Construct identity 3D rotation with the same shape

Construct 3D rotation from quaternion (the quaternion needs not to be normalized).

Convert quaternion (xyzw) to Euler angles (roll, pitch, yaw) in radians

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

Refreshes the state tensors in the simulation to ensure they are up-to-date.

:param verts (N, V, 3), potential multiple people :param colors (N, 3) or (N, V, 3) :param faces (N, F, 3), optional, otherwi

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

Advances the simulation by a single physics step.

Apply actions, simulate, call self.post_physics_step() Args: actions (torch.Tensor): Tensor of shape (num_envs, num_actions_per_e

Construct an ordered dictionary from the object :rtype: OrderedDict

Write the object to a file (either .npy or .json) :param path: path of the file :type path: string

Construct a transform from a quaternion and 3D translation. Only one of them can be None.