get the index of the node :param node_name: the name of the node :type node_name: string :rtype: int

Return homogeneous rotation matrix from quaternion. >>> M = quaternion_matrix([0.99810947, 0.06146124, 0, 0]) >>> numpy.allclose(M, rotation_

Construct a skeleton state from rotation and root translation :param skeleton_tree: the skeleton tree :type skeleton_tree: S

Return length, i.e. Euclidean norm, of ndarray along axis. >>> v = numpy.random.random(3) >>> n = vector_norm(v) >>> numpy.allclose(n, nu

Convert 3d vector of axis-angle rotation to 4x4 rotation matrix Args: angle_axis (Tensor): tensor of 3d vector of axis-angle rotations.

Return ndarray normalized by length, i.e. Euclidean norm, along axis. >>> v0 = numpy.random.random(3) >>> v1 = unit_vector(v0) >>> numpy.

Rotate a 3D vector with the 3D rotation

Construct an ordered dictionary from the object :rtype: OrderedDict

Get translation from transform

Pose should be batch_size x 72

The inverse of the rotation

Combine two set of 3D rotations together using \**\* operator. The shape needs to be broadcastable

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

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

Get rotation from transform

Adds one capsule to an mjvScene.

Return multiplication of two quaternions. >>> q = quaternion_multiply([4, 1, -2, 3], [8, -5, 6, 7]) >>> numpy.allclose(q, [28, -44, -14, 48])

This function is borrowed from https://github.com/kornia/kornia Convert 3x4 rotation matrix to Rodrigues vector Args: rotation_

Pose should be batch_size x 156

Pose should be batch_size x 156

Pose should be batch_size x 45

Construct 3D identity rotation given shape

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

Return inverse of quaternion. >>> q0 = random_quaternion() >>> q1 = quaternion_inverse(q0) >>> numpy.allclose(quaternion_multiply(q0, q1)

Get rotation from transform

Read the object from a file (either .npy or .json) :param path: path of the file :type path: string :param args, kwargs: the

Rotate a 3D vector with the 3D rotation

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

Get translation from transform

Update the plotter for any updates in the task primitives

SMPL model constructor Parameters ---------- model_path: str The path to the folder or to the file where the model

Takes some iterable that might contain iterables and converts it to a list of lists [of lists... etc] Mainly used for converting the st

Return sphere point perpendicular to axis.

Computes acceleration error: 1/(n-2) \sum_{i=1}^{n-1} X_{i-1} - 2X_i + X_{i+1} Note that for each frame that is not visible, three en

This function should return a distribution to sample action from

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