construct arguments to `Vec` according to axis index.

return bb_min, bb_max, and mean for each track (B, 3) over entire trajectory :param verts (B, T, V, 3) :param vis_mask (B, T)

Retrieves the DOF (degrees of freedom) limits and properties. Returns: Tuple of tensors representing position li

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

Applies a regressor that maps SMPL vertices to uniformly distributed vertices

Draw keypoints and links on an image. From ViTPose/mmpose/core/visualization/image.py Args: img (H, W, 3) array pose_result (

Loads the robot assets into the simulation environment. save self.num_dofs, self.num_bodies, self.dof_names, self.body_names

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

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

Grammar: 1. Single Policy Method python humanoidverse/urci.py +simulator=mujoco +checkpoint=/path/to/checkpoint.onnx python

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

w x y z Convert rotations given as rotation matrices to quaternions. Args: matrix: Rotation matrices as tensor of shape (..., 3,

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

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

XZ to origin, Start from the ground, Face-Z

XZ to origin, Start from the ground, Face-Z

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

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

Calculates torques from position commands

Visualize a skeleton motion along its first dimension interactively. :param skeleton_motion: :param task_name: :type skeleton_motion

Prepares the simulation environment and refreshes any relevant tensors.

quaternion norm (unit quaternion represents a 3D rotation, which has norm of 1)

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

imaginary components of the quaternion