unilab.tasks.motion_tracking.common.tensor_rotation.quat_to_axis_angle
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unilab.tasks.motion_tracking.common.tensor_rotation.quat_to_axis_angle(quat_wxyz)[source]
Convert batched unit wxyz quaternions to axis-angle vectors.
This follows the NumPy owner’s canonicalized atan2/Taylor form so tensor
observations preserve the established numerical semantics near zero angle.
- Parameters:
quat_wxyz (Tensor)
- Return type:
Tensor