Randommly select commands of some environments Args: env_ids (List[int]): Environments ids for which new commands are needed

Parses a mujoco xml scene description file and returns a Skeleton Tree. We use the model attribute at the root as the name of the tre

Construct a 3D rotation from a valid 3x3 rotation matrices. Reference can be found here: http://www.cg.info.hiroshima-cu.ac.jp/~miyazaki/

Combine two transformation together

Construct a zero-pose skeleton state from the skeleton tree by assuming that all the local rotation is 0 and root translation is also

Get all the lines and dots needed to draw the skeleton state

Get all the velocity and angular velocity lines

Takes some iterable that might contain iterables and converts it to a list of lists [of lists... etc] Mainly used for converting the st

Resets ROOT states position and velocities of selected environmments Sets base position based on the curriculum Selects rando

Implements the game-inspired curriculum. Args: env_ids (List[int]): ids of environments being reset