Rotate a 3D vector with the 3D rotation

Create a 3D rotation from angle and axis of rotation. The rotation is counter-clockwise along the axis. The rotation can be interpreted as

Update the plotter for any updates in the task primitives

quaternion multiplication

Construct a skeleton state from rotation and root translation :param skeleton_tree: the skeleton tree :type skeleton_tree: S

get the index of the node :param node_name: the name of the node :type node_name: string :rtype: int

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

Construct 3D identity rotation given shape

Create more task primitives from a task for the plotter

Construct a skeleton motion from a skeleton state. The velocities are estimated using second order gaussian filter along the last axi

Visualize a skeleton motion along its first dimension interactively. :param skeleton_motion: :param task_name: :type skeleton_motion

Visualize a skeleton state :param skeleton_state: :param task_name: :type skeleton_state: SkeletonState :type task_name: string,

Write the object to a file (either .npy or .json) :param path: path of the file :type path: string

The inverse of the rotation

Combine two set of 3D rotations together using \**\* operator. The shape needs to be broadcastable

Construct an ordered dictionary from the object :rtype: OrderedDict

Get translation from transform

Construct a transform from a quaternion and 3D translation. Only one of them can be None.

Get rotation from transform

Construct 3D rotation from quaternion (the quaternion needs not to be normalized).

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

Construct a skeleton motion from a fbx file (TODO - generalize this). If the skeleton tree is not given, it will use the first frame

Add new states to memory.

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

Set camera position and direction

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