Convert g1_stu_future student policy to TorchScript.

Create more task primitives from a task for the plotter

Drop a list of nodes from the skeleton and re-compute the local rotation to match the original joint position as much as possible.

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

Generates a batch of AMP transitions.

Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_

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

Construct a skeleton motion from a skeleton state vector, global velocity and angular velocity at each joint. :param skeleto

construct arguments to `Vec` according to axis index.

Returns full frame for the given trajectory at the specified time.

Convert the skeleton state into global representation. This will only affects the values of .tensor. If the skeleton state already h

Convert the skeleton state into local representation. This will only affects the values of .tensor. If the skeleton state already ha

Log masking information to wandb if available.

Basic building block of TD-MPC2. MLP with LayerNorm, Mish activations, and optionally dropout.

get the name of the parent of the given node :param node_name: the name of the node :type node_name: string :rtype: string

Parse unknown arguments in dot notation format (--config.param value)

check terminations, compute observations and rewards calls self._post_physics_step_callback() for common computations calls

check terminations, compute observations and rewards calls self._post_physics_step_callback() for common computations calls

check terminations, compute observations and rewards calls self._post_physics_step_callback() for common computations calls

quaternion norm (unit quaternion represents a 3D rotation, which has norm of 1)

imaginary components of the quaternion

make all the real part of the quaternion positive

normalized quaternion with norm of 1

Convert from PyBullet ordering to Isaac ordering. Rearranges leg and joint order from PyBullet [FR, FL, RR, RL] to IsaacGym order [FL

Same as the one in :class:`SkeletonState`. This method discards all velocity information before retargeting and re-estimate the velo

Return the determinant of the 3x3 matrix. The shape of the tensor will be as same as the shape of the matrix

Generate a stepping stones terrain Parameters: terrain (terrain): the terrain stone_size (float): horizontal size of the ste

Construct an ordered dictionary from the object :rtype: OrderedDict

Transform a 3D vector

Identity transformation with given shape

Converts a batch of scalars to soft two-hot encoded targets for discrete regression.

Does the inverse operation of split_and_pad_trajectories()