Return affine transform matrix to register two point sets. v0 and v1 are shape (ndims, \*) arrays of at least ndims non-homogeneous coordinat

Return angle between vectors. If directed is False, the input vectors are interpreted as undirected axes, i.e. the maximum angle is pi/2.

Depth first search function :param joint: joint item in the fbx :param pos: position of current element (for parenting)

Return axis, which arc is nearest to point.

Convert rotations given as axis/angle to quaternions. Args: axis_angle: Rotations given as a vector in axis angle form,

Convert rotations given as axis/angle to quaternions. Args: axis_angle: Rotations given as a vector in axis angle form,

r"""Function that converts points from homogeneous to Euclidean space. See :class:`~torchgeometry.ConvertPointsFromHomogeneous` for details.

r"""Function that converts points from Euclidean to homogeneous space. See :class:`~torchgeometry.ConvertPointsToHomogeneous` for details. E

crete a torque proportional controller or a PID controller

r"""Function that converts angles from degrees to radians. See :class:`~torchgeometry.DegToRad` for details. Args: tensor (Tensor):

Drop a list of nodes from the skeleton and re-compute the local rotation to match the original joint position as much as possible.

Return Euler angles from rotation matrix for specified axis sequence. axes : One of 24 axis sequences as string or encoded tuple Note that m

Return homogeneous rotation matrix from Euler angles and axis sequence. ai, aj, ak : Euler's roll, pitch and yaw angles axes : One of 24 axis

Reads an fbx file to an array. Currently reading of the frame time is not supported. 120 fps is hard coded TODO :param fbx_file_path: s

This function reads in an fbx file, and saves the relevant info to a numpy array Fbx files have a series of animation curves, each of which

Perform forward kinematics using the given trajectory and local rotations. Arguments (where B = batch size, J = number of joints):

Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_

Construct a skeleton motion from a skeleton state vector, global velocity and angular velocity at each joint. :param skeleto

construct arguments to `Vec` according to axis index.