Visualize a skeleton state :param skeleton_state: :param task_name: :type skeleton_state: SkeletonState :type task_name: string,

Visualize a sequence of skeleton state. The dimension of the skeleton state must be 1 :param skeleton_state: :param task_name: :type

Construct 3D rotation from the imaginary component

verify that a quaternion has norm 1

real component of the quaternion

Yaw rotation (rotation along z-axis)

Retarget the skeleton state to a target skeleton tree. This is a naive retarget implementation with rough approximations. See the me

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

root translation :rtype: Tensor

root translation on xy

Construct rotation matrix from quaternion

Verify that a rotation matrix has a determinant of one and is orthogonal

skeleton tree :rtype: SkeletonTree

time between two adjacent frames

Write the object to a file (either .npy or .json) :param path: path of the file :type path: string

identity transformation with the same shape

Construct a zero-pose skeleton state from the skeleton tree by assuming that all the local rotation is 0 and root translation is also