Update the reward limits curriculum based on the average episode length.

Update the penalty curriculum based on the average episode length. If the average episode length is below the penalty level down thr

Updates the camera view at each rendering step.

Adds one capsule to an mjvScene.

Depth first search function :param joint: joint item in the fbx :param pos: position of current element (for parenting)

Applies the specified torques to the robot's degrees of freedom (DOF). Args: torques (tensor): Tensor containing torques

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

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

Convert rotations given as axis/angle to quaternions. # wxyz Args: axis_angle: Rotations given as a vector in axis angle for

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

递归检查 robot 配置的兼容性（跳过 robot.motion.motion_file）

返回一个 dict: { obs_key: { sub_key1: (start_idx, end_idx), sub_key2: (start_idx, end_idx), ...

Compute the volume of each part in the reposed mesh

create the faces that close the segment.

Creates and initializes environments with specified configurations. Args: num_envs (int): Number of environments to crea

:param verts (B, V, 3) :param faces (B, F, 3) :param colors (B, V, 3)

Create a SkeletonMotion for H1 robot from poses and translations. Args: poses: Joint angles from mujoco [N, num_dof] in proper ordering -

Create a SkeletonMotion from poses and translations. Args: poses: Joint angles from mujoco [N, 153] - groups of 3 hinge joints per joint

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

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

Reads an fbx file to an array. Currently reading of the frame time is not supported. 120 fps is hard coded TODO :param fbx_file_path: s

This function reads in an fbx file, and saves the relevant info to a numpy array Fbx files have a series of animation curves, each of which

:param verts (B, T, V, 3) :param colors (B, 3) :param faces (F, 3) :param vis_mask (optional tensor, default None) (B, T) ternary mas

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

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

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

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

Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_

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

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