not use num_outputs

:param robot_name: str, the name of the robot, 3link or franka :param workspace_dim: int, workspace dimension, either 2 or 3

batch matrix multiplication

create a acceleration-based control robot given name :param robot_name: robot name, 3link or franka :param bullet_client: pybullet client

forward mapping from root node to leaf nodes given environment features -------------------------------------------- :param q

compute the jacobian with default value of unconnected_gradients=0