protomotions.utils.motion_interpolation_utils module

Motion interpolation utilities.

Provides functions for smoothly interpolating between motion frames, including linear position interpolation and spherical quaternion interpolation (SLERP).

protomotions.utils.motion_interpolation_utils.interpolate_pos(pos0, pos1, blend)

Linear interpolation between two position tensors.

Parameters:

• pos0 – Starting positions [batch, …] or [batch, bodies, 3]

• pos1 – Ending positions [batch, …] or [batch, bodies, 3]

• blend – Blend factor [batch] where 0=pos0, 1=pos1

Returns:

Interpolated positions with same shape as pos0/pos1

protomotions.utils.motion_interpolation_utils.interpolate_quat(rot0, rot1, blend)

Spherical linear interpolation (SLERP) between quaternions.

Parameters:

• rot0 – Starting quaternions [batch, 4] or [batch, bodies, 4]

• rot1 – Ending quaternions [batch, 4] or [batch, bodies, 4]

• blend – Blend factor [batch] where 0=rot0, 1=rot1

Returns:

Interpolated quaternions with same shape as rot0/rot1

protomotions.utils.motion_interpolation_utils.calc_frame_blend(time, length, num_frames, dt)

Calculate frame indices and blend factor for interpolation.

Parameters:

• time (torch.Tensor) – Current time.

• length (torch.Tensor) – Length of the motion sequence in seconds.

• num_frames (torch.Tensor) – Number of frames in the motion sequence.

• dt (torch.Tensor) – Time step between frames.

Returns:

Frame index 0, frame index 1, and blend factor.

Return type:

Tuple[torch.Tensor, torch.Tensor, torch.Tensor]