Convert a quaternion into euler angles (roll, pitch, yaw) roll is rotation around x in radians (counterclockwise) pitch is ro

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

Rotate a 3D vector with the 3D rotation

The inverse of the rotation

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

Construct an ordered dictionary from the object :rtype: OrderedDict

Get translation from transform

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

Get rotation from transform

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

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

Construct 3D identity rotation given shape

Set nested attribute using dot notation (e.g., 'env.num_envs')

Update the plotter for any updates in the task primitives

Override to use unified motion sampling for both privileged and future observations.

Random pushes the robots. Emulates an impulse by setting a randomized base velocity.

Randommly select commands of some environments Args: env_ids (List[int]): Environments ids for which new commands are needed

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

Set camera position and direction

observation: motion_obs, cur_priop_obs, history_obs

observation: motion_obs, cur_priop_obs, history_obs

Apply masking to motion state component and return mask indicator

Compute torques from actions. Actions can be interpreted as position or velocity targets given to a PD controller, or directly as scaled

Creates simulation, terrain and evironments

Returns frame for the given trajectory at the specified time.

Creates the training algorithm either from a registered namme or from the provided config file. Args: env (isaacgym.VecTaskPyth

Creates an environment either from a registered namme or from the provided config file. Args: name (string): Name of a registere