reward angular velocity only

reward linear velocity only

jointly reward translation and rotation

reward translation and rotation

reward rotation only

reward translation only

reward translation xy only

reward translation z only

jointly reward angular and linear velocity

Return a quaternion representing the heading rotation of q along the vertical axis (z axis). Args: q: A quaternion that the heading is to be co

Computes forward vector based on cross product of the up vector with average of the right->left shoulder and hip vectors

Override to include future motion observations while maintaining compatibility.

Crop the motion along its last axis. This is equivalent to performing a slicing on the object with [..., start: end: skip_every] wher

Returns a dictionary of encoders for each observation in the dict.

Compute the matrix that represents the inverse rotation