Decorator for tests that require ffmpeg to be installed. If ffmpeg is not found the test will be skipped.

Decorator for tests that require the SMPL dataset, if the dataset is not found the test will be skipped.

Convert rotation matrices to rotation vectors (angle-axis representation). :param rotation_matrices: A numpy array of shape (..., 3, 3).

Convert rotation matrices to rotation vectors (angle-axis representation). :param rotation_matrices: A torch tensor of shape (..., 3, 3).

Convert 6D rotation representation to 3x3 rotation matrix. Based on Zhou et al., "On the Continuity of Rotation Representations in Neural Net

Same as self.save_video, kept for backward compatibility.

Render and save the depth buffer, see 'get_depth()' for more information about the depth format. :param file_path: the path w

Run the headless viewer and render a single frame. :param file_path: the path where the image is saved. :param scale_factor:

Render and save a color mask as a 'RGB' PIL image. Each object in the mask has a uniform color computed from the Node UID (can be acc

Send a message to a single client or to all connected clients. :param msg: a python object that is serialized with pickle and sent t

At the start of a test session remove the failures directory

Return how the joints are connected in the kinematic chain where skeleton[0, i] is the parent of joint skeleton[1, i].

Stop the timer. Should only be called once when stopping the timer. Returns: Tuple[float, float]: Current position in th

Creates a SMPL sequence whose single frame is a SMPL mesh in T-Pose.

Returns a OpenCVCamera object with extrinsics and intrinsics computed from this camera.

Returns a PinholeCamera object with positions and targets computed from this camera. :param target_distance: distance from the camera

Toggle the paused state

Update frames of the remote Node. This function should be implemented by subclasses to match the relative add_frames() method

Update frames of the remote Lines node by updating the origins and tips. :param lines: Set of 3D coordinates as a np array of shape

Update frames of the remote Arrows node by updating the origins and tips. :param origins: Set of 3D coordinates of the base of the a

Update frames of the remote SMPLSequence node by updating body poses. :param poses_body: An np array of shape (N, N_JOINTS*3) or (N_

Update frames of the remote Spheres node by updating the sphere positions. :param positions: A numpy array of shape (N, P, 3) or (P,

Update frames of the remote Meshes node by adding new vertices. :param vertices: Set of 3D coordinates as a np array of shape (N, V,

Update frames of the remote RigidBodies node by updating the positions and orientations. :param rb_pos: A np array of shape (N, R, 3

Get or compute all vertex normals (this might take a while for long sequences).