temoprarily copy noramlize()

deploy/deploy_real/common/np_math.py

@@ -37,6 +37,18 @@ def axis_angle_from_quat(quat: np.ndarray, eps: float = 1.0e-6) -> np.ndarray:
     )
     return quat[..., 1:4] / sin_half_angles_over_angles[..., None]
 
+def normalize(x: torch.Tensor, eps: float = 1e-9) -> torch.Tensor:
+    """Normalizes a given input tensor to unit length.
+
+    Args:
+        x: Input tensor of shape (N, dims).
+        eps: A small value to avoid division by zero. Defaults to 1e-9.
+
+    Returns:
+        Normalized tensor of shape (N, dims).
+    """
+    return x / x.norm(p=2, dim=-1).clamp(min=eps, max=None).unsqueeze(-1)
+
 
 def quat_from_angle_axis(
         angle: torch.Tensor,