Returns true if the 3x3 submatrix represents a rotation. Args: m: A transformation matrix. Raises: ValueError: If input is not a matrix

Normalizes the quaternion to length 1. Divides the quaternion by its magnitude. If the magnitude is too small, returns the quaternion identity v

Creates a random small rotation around a random axis. Generates a small rotation with the axis vector selected uniformly from the unit sphere and

Performs a rotation by quaternion. Rotate the point by the quaternion using quaternion multiplication, (q * p * q^-1), without constructing the r

Calculates axis and angle of rotation performed by a quaternion. Calculates the axis and angle of the rotation performed by the quaternion. The q

Returns a random 3D vector from a normal distribution. Each component is selected independently from a normal distribution. Args: sigma: Sca

Returns a 3D vector selected uniformly from the input box. Args: low: The min-value corner of the box. high: The max-value corner of the bo

get the name of the node given the index

Parses the provided config file, calls create_sim() (which creates, simulation, terrain and environments), initilizes pytorch

Initializes all member classes recursively. Ignores all namse starting with '__' (buit-in methods).

Parses the provided config file, calls create_sim() (which creates, simulation, terrain and environments), initilizes pytorch

Calulates the running mean and std of a data stream https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algori

Initialize a ReplayBuffer object. Arguments: buffer_size (int): maximum size of buffer

Initialize a ReplayBuffer object. Arguments: buffer_size (int): maximum size of buffer

Expert dataset provides AMP observations from Dog mocap dataset. time_between_frames: Amount of time in seconds between transition.

Should override this function to return a list of task primitives