Get the rotation matrix on the top-left corner of a Euclidean transformation matrix

Construct a transform from a Euclidean transformation matrix

Get the translation vector located at the last column of the matrix

Retrieves param value for the given prop and attr from the sample.

Creates the training algorithm either from a registered namme or from the provided config file. Args: env (isaacgym.VecTaskPyth

Creates an environment either from a registered namme or from the provided config file. Args: name (string): Name of a registere

The (angle, axis) representation of the rotation. The axis is normalized to unit length. The angle is guaranteed to be between [0, pi].

quaternion with its imaginary part negated

Construct identity 3D rotation with the same shape

Reset some environments. Calls self._reset_dofs(env_ids), self._reset_root_states(env_ids), and self._resample_commands(env_ids)

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

Splits trajectories at done indices. Then concatenates them and padds with zeros up to the length og the longest trajectory. Returns masks corres

Inverse transformation

:param node_names: a list of names for each tree node :type node_names: List[str] :param parent_indices: an int32-typed tenso