Create a 3D rotation from angle and axis of rotation. The rotation is counter-clockwise along the axis. The rotation can be interpreted as

Construct a 3D rotation from a valid 3x3 rotation matrices. Reference can be found here: http://www.cg.info.hiroshima-cu.ac.jp/~miyazaki/

Construct 3D identity rotation given shape

quaternion multiplication

quaternion multiplication

Return quaternion for rotation about axis. >>> q = quaternion_about_axis(0.123, [1, 0, 0]) >>> numpy.allclose(q, [0.99810947, 0.06146124, 0,

Multiply two quaternions. Usual torch rules for broadcasting apply. Args: a: Quaternions as tensor of shape (..., 4), real part

Multiply two quaternions. Usual torch rules for broadcasting apply. Args: a: Quaternions as tensor of shape (..., 4), real part

Retarget the skeleton state to a target skeleton tree. This is a naive retarget implementation with rough approximations. The functi

Combine two transformation together

update critic

Extract the first or third Euler angle from the two members of the matrix which are positive constant times its sine and cosine. Args:

Extract the first or third Euler angle from the two members of the matrix which are positive constant times its sine and cosine. Args:

Get all the lines and dots needed to draw the skeleton state

Get all the velocity and angular velocity lines

Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0.

Return unit sphere coordinates from window coordinates.

Create more task primitives from a task for the plotter

Get the rotation matrix on the top-left corner of a Euclidean transformation matrix

Get the rotation matrix on the top-left corner of a Euclidean transformation matrix

Construct a transform from a Euclidean transformation matrix

Get the translation vector located at the last column of the matrix

Get the translation vector located at the last column of the matrix

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

Construct a skeleton motion from a skeleton state. The velocities are estimated using second order guassian filter along the last axi

Retrieves param value for the given prop and attr from the sample.