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

quaternion multiplication

Reset selected robots

Sample random time for multiple trajectories.

Combine two transformation together

Batch sample traj idxs.

observation structure: motion_obs, priop_obs, history_obs, future_obs

Sets environment origins. On rough terrain the origins are defined by the terrain platforms. Otherwise create a grid.

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

Get masked motion state as student observation input

Get all the velocity and angular velocity lines

Prepares a list of reward functions, whcih will be called to compute the total reward. Looks for self._reward_<REWARD_NAME>, where <REWAR

Callback allowing to store/change/randomize the DOF properties of each environment. Called During environment creation. Base

Callback allowing to store/change/randomize the rigid shape properties of each environment. Called During environment creation.

Randomly pushes the gripper stators. Emulates an impulse by setting a randomized gripper stator velocity.

Resets DOF position and velocities of selected environmments Positions are randomly selected within 0.5:1.5 x default positions. Velo

Resets ROOT states position and velocities of selected environmments Sets base position based on the curriculum Selects rando

Compute rewards Calls each reward function which had a non-zero scale (processed in self._prepare_reward_function()) adds eac

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 current masking information for logging.

Add new states to memory.

The (angle, axis) representation of the rotation. The axis is normalized to unit length. The angle is guaranteed to be between [0, pi].

quaternion with its imaginary part negated

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 identity 3D rotation with the same shape

Reset some environments. Calls self._reset_dofs(env_ids), self._reset_root_states(env_ids), and self._resample_commands(env_ids)

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

Splits trajectories at done indices. Then concatenates them and padds with zeros up to the length og the longest trajectory. Returns masks corres

Symmetric exponential function. Adapted from https://github.com/danijar/dreamerv3.

Symmetric logarithmic function. Adapted from https://github.com/danijar/dreamerv3.

Sample random time for traj.