Compute the approximate difference between two poses, by comparing the norm between the positions and using the quaternion difference to

:param self: :param x: Shape (batch_size, num_points) :param y: :param z: :param intrinsics: :return:

:param self: :param x: Shape (batch_size, num_points) :param y: :param z: :param intrinsics: :return:

Projects a batch of points on a batch of lines as defined by their direction and a point on each line.

Projects points to the camera plane. Args: points (tensor): points tensor transform (tensor): transformation matrices

:param q: quaternion, Nx4 :return: r: Axis-angle, Nx3

Apply the rotation given by a quaternion to a 3D point. Usual torch rules for broadcasting apply. Args: quaternion: Tensor of qu

Multiply two quaternions representing rotations, returning the quaternion representing their composition, i.e. the versor with nonnegative re

Given some initial position, sample a Transform that is a pure yaw about the world frame orientation, with the origin at the current pose posi

Generate a single random 3x3 rotation matrix. Args: dtype: Type to return Returns: Rotation matrix as tensor of shape (

Function to reset the pose of the palms by reseting the joint positions with ignore_physics=True (reseting the state by overriding the physic

Applied a rotation about the centroid of a point cloud Args: pcd (np.ndarray): N x 3 rot_mat (np.ndarray): 3 x 3 Return

Converts 6D rotation representation by Zhou et al. [1] to rotation matrix using Gram--Schmidt orthogonalization per Section B of [1]. Arg

Convert 3x4 rotation matrix to Rodrigues vector Args: rotation_matrix (Tensor): rotation matrix. Returns: Tensor: Rodrigues

:param R: Rotation matrix, Nx3x3 :return: r: Rotation vector, Nx3

Masks part of an image that is on one side of a randomly sampled circle Args: obj_mask (np.ndarray): Size (H, W) of bool

Masks part of an image that is on one side of a randomly sampled halfplane Args: obj_mask (np.ndarray): Size (H, W) of b

Sample a random unit vector that is orthogonal to the specified reference Args: reference_vector (np.ndarray): Numpy array with

Return matrix to scale by factor around origin in direction. Use factor -1 for point symmetry.

Setter function to directly set the transformed point cloud Args: rgb_image (np.ndarray): HxWx3 array for RGB image observed at t

Setter function to set the planes that correspond to a particular point cloud Args: planes (list): List of np.ndarrays of size N

Setter function to directly set the transformed point cloud Args: pcd (np.ndarray): N X 3 transformed point cloud pcd

Setter function to set the transformation to go from this node on, if planning to solve some task specified by a desired global transformation

Visualize the collision geometry with a queried object that is being checked for collision Args: obj_pcd (np.ndarray): Ma

Capture exit signal from keyboard

Transform a set of vectors Args: vectors (np.ndarray): Numpy array of vectors, size [N, 3], where each row is a vector [x, y,