Drop a list of nodes from the skeleton and re-compute the local rotation to match the original joint position as much as possible.

Reads an fbx file to an array. :param fbx_file_path: str, file path to fbx :return: tuple with joint_names, parents, transforms, frame t

This function reads in an fbx file, and saves the relevant info to a numpy array Fbx files have a series of animation curves, each of which

Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_

Construct a skeleton motion from a skeleton state vector, global velocity and angular velocity at each joint. :param skeleto

Convert the skeleton state into global representation. This will only affects the values of .tensor. If the skeleton state already h

Convert the skeleton state into local representation. This will only affects the values of .tensor. If the skeleton state already ha

get the name of the parent of the given node :param node_name: the name of the node :type node_name: string :rtype: string

check terminations, compute observations and rewards calls self._post_physics_step_callback() for common computations calls

quaternion norm (unit quaternion represents a 3D rotation, which has norm of 1)

imaginary components of the quaternion

make all the real part of the quaternion positive

normalized quaternion with norm of 1

Render and get the image from the current camera This function must be called after the simulation is stepped (post_physics_step). Th

Reset selected robots

Same as the one in :class:`SkeletonState`. This method discards all velocity information before retargeting and re-estimate the velo