Converting SMPL pose thetas / axis-angle into robot dof

[areiner222]

Hi @ZhengyiLuo ,

I've been trying to figure out where the smpl pose is retargeted to the joint dofs in SMPLSim / PHC.
The only place I see the conversion to continuous dofs is here.
Is that right? I don't think PHC uses that at all though?

Again, appreciate all your work!