make all the real part of the quaternion positive

make all the real part of the quaternion positive

normalized quaternion with norm of 1

Given a quaternion representing rotation, get the quaternion representing its inverse. Args: quaternion: Quaternions as tensor o

Given a quaternion representing rotation, get the quaternion representing its inverse. Args: quaternion: Quaternions as tensor o

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

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

Generate random quaternions representing rotations, i.e. versors with nonnegative real part. Args: n: Number of quaternions in a

Generate random quaternions representing rotations, i.e. versors with nonnegative real part. Args: n: Number of quaternions in a

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

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

Remove yaw component by converting to Euler angles and zeroing yaw

Same as the one in :class:`SkeletonState`. This method discards all velocity information before retargeting and re-estimate the velo

Same as the one in :class:`SkeletonState`. This method discards all velocity information before retargeting and re-estimate the velo

Return the determinant of the 3x3 matrix. The shape of the tensor will be as same as the shape of the matrix

Usage: Input a list of Policy, and the robot can switch between them. - Policies are indexed by integers (Pid),

Convert roll-pitch-yaw (radians) to quaternion [x, y, z, w]

Sets the headless mode for the simulator. Args: headless (bool): If True, runs the simulation without graphical display.

Sets the environment index for the camera view. Args: env_index: The index of the environment to set the camera view to.

Configures the terrain based on specified mesh type. Args: mesh_type (str): Type of terrain mesh ('plane', 'heightfield

Sets up a viewer for visualizing the simulation, allowing keyboard interactions.

m1: sparse matrix of size N x M m2: dense matrix of size B x M x K returns m1@m2 matrix of size B x N x K

Convert a unit quaternion to a standard form: one in which the real part is non negative. Args: quaternions: Quaternions with re

Convert a unit quaternion to a standard form: one in which the real part is non negative. Args: quaternions: Quaternions with re

Construct an ordered dictionary from the object :rtype: OrderedDict

Construct an ordered dictionary from the object :rtype: OrderedDict

:param track_ids (B)

Transform a 3D vector

Identity transformation with given shape

Update bbox of cameras from the given 3d points x3d: input 3D keypoints (or vertices), (num_frames, num_points, 3)

Updates the viewer's origin based upon the root of an asset in the scene. Args: asset_name: The name of the asset in the scene. T

Updates the viewer's origin to the origin of the world which is (0, 0, 0).

Construct a zero-pose skeleton state from the skeleton tree by assuming that all the local rotation is 0 and root translation is also