(self, target_pose)
return (2 * target_pose[self.actuator_order] - self._offset) / self._scale
Creates the control signal corresponding a CMU mocap joints pose.

    Args:
      target_pose: An array containing the target position for each joint.
        These must be given in "canonical CMU order" rather than "qpos order",
        i.e. the order of `target_pose[self.actuator_order]` should correspond
        to the order of `physics.bind(self.actuators).ctrl`.

    Returns:
      An array of the same shape as `target_pose` containing inputs for position
      controllers. Writing these values into `physics.bind(self.actuators).ctrl`
      will cause the actuators to drive joints towards `target_pose`.
Creates the control signal corresponding a CMU mocap joints pose.
Creates the control signal corresponding a CMU mocap joints pose .
def cmu_pose_to_actuation(self, target_pose):
    """Creates the control signal corresponding a CMU mocap joints pose.

    Args:
      target_pose: An array containing the target position for each joint.
        These must be given in "canonical CMU order" rather than "qpos order",
        i.e. the order of `target_pose[self.actuator_order]` should correspond
        to the order of `physics.bind(self.actuators).ctrl`.

    Returns:
      An array of the same shape as `target_pose` containing inputs for position
      controllers. Writing these values into `physics.bind(self.actuators).ctrl`
      will cause the actuators to drive joints towards `target_pose`.
    """
    return (2 * target_pose[self.actuator_order] - self._offset) / self._scale
def cmu_pose_to_actuation ( self , target_pose ) : return ( 2 * target_pose [ self . actuator_order ] - self . _offset ) / self . _scale