unilab.tasks.motion_tracking.common.motion_loader.interpolate_motion¶
- unilab.tasks.motion_tracking.common.motion_loader.interpolate_motion(base_poss_input, base_rots_input, dof_poss_input, *, input_fps, output_fps)[source]¶
Resample a root+joint trajectory from
input_fpstooutput_fps.Positions and joint angles are linearly interpolated, root quaternions (wxyz) use slerp, and velocities are computed by numerical differentiation at the output rate.