39 lines
957 B
Python
39 lines
957 B
Python
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# License: see [LICENSE, LICENSES/legged_gym/LICENSE]
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from typing import Tuple
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import numpy as np
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import torch
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from isaacgym.torch_utils import quat_apply, normalize
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from torch import Tensor
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# @ torch.jit.script
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def quat_apply_yaw(quat, vec):
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quat_yaw = quat.clone().view(-1, 4)
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quat_yaw[:, :2] = 0.
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quat_yaw = normalize(quat_yaw)
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return quat_apply(quat_yaw, vec)
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# @ torch.jit.script
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def wrap_to_pi(angles):
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angles %= 2 * np.pi
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angles -= 2 * np.pi * (angles > np.pi)
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return angles
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# @ torch.jit.script
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def torch_rand_sqrt_float(lower, upper, shape, device):
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# type: (float, float, Tuple[int, int], str) -> Tensor
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r = 2 * torch.rand(*shape, device=device) - 1
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r = torch.where(r < 0., -torch.sqrt(-r), torch.sqrt(r))
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r = (r + 1.) / 2.
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return (upper - lower) * r + lower
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def get_scale_shift(range):
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scale = 2. / (range[1] - range[0])
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shift = (range[1] + range[0]) / 2.
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return scale, shift
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