A skeleton tree gives a complete description of a rigid skeleton. It describes a tree structure over a list of nodes with their names indicat

y = (x-mean)/std using running estimates of mean,std

A skeleton state contains all the information needed to describe a static state of a skeleton. It requires a skeleton tree, local/global rota

Virtual Trackball Control. >>> ball = Arcball() >>> ball = Arcball(initial=numpy.identity(4)) >>> ball.place([320, 320], 320) >>> bal

BaseEnv Class ------------- This module contains the BaseEnv class, a base environment for Mujoco simulations. Setup simulation and rende

An abstract plotter which deals with a plotting task. The children class needs to implement the functions to create/update the objects according t

r"""Creates a transformation that converts points from homogeneous to Euclidean space. Args: points (Tensor): tensor of N-dimensional

r"""Creates a transformation to convert points from Euclidean to homogeneous space. Args: points (Tensor): tensor of N-dimensional po

r"""Function that converts angles from degrees to radians. Args: tensor (Tensor): Tensor of arbitrary shape. Returns: Tensor

Special json encoder for numpy types

PD computes the control forces as .. math:: \tau^n = -k_p (q^{n}-\bar{q}^{n}) - k_d \dot{q}^{n} - k_i \int_y (q^{y}-\bar{q}^{y})

r"""Creates an object that converts angles from radians to degrees. Args: tensor (Tensor): Tensor of arbitrary shape. Returns:

Implementation to read/write to file. All class the is inherited from this class needs to implement to_dict() and from_dict()

Based on https://github.com/m-lundberg/simple-pid/blob/master/simple_pid/pid.py

The controller computes the force as ..math:: \tau^n = \min( \max (scale \dot action, -torque\_lim), torque\_lim)) Attributes

Stable PD (SPD) computes the control forces using the next time step .. math:: \tau^n = -k_p (q^{n+1}-\bar{q}^{n+1}) - k_d \dot{q}^{