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ap.py
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import torch
auxilary_poses = torch.tensor([[[ 9.2624e-01, 2.0303e-01, 3.1758e-01, 1.2802e+00],
[ 3.7693e-01, -4.9890e-01, -7.8039e-01, -3.1459e+00],
[ 0.0000e+00, 8.4254e-01, -5.3863e-01, -2.1713e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-9.5593e-01, 2.0133e-01, 2.1367e-01, 8.6135e-01],
[ 2.9358e-01, 6.5555e-01, 6.9574e-01, 2.8046e+00],
[-1.4901e-08, 7.2781e-01, -6.8577e-01, -2.7644e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-4.0873e-01, 3.0081e-01, -8.6166e-01, -3.4735e+00],
[-9.1266e-01, -1.3472e-01, 3.8589e-01, 1.5556e+00],
[-7.4506e-09, 9.4412e-01, 3.2960e-01, 1.3287e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-6.5542e-01, 2.2622e-01, -7.2059e-01, -2.9048e+00],
[-7.5526e-01, -1.9631e-01, 6.2533e-01, 2.5208e+00],
[ 0.0000e+00, 9.5409e-01, 2.9952e-01, 1.2074e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 3.2338e-01, 7.4408e-01, 5.8461e-01, 2.3566e+00],
[ 9.4627e-01, -2.5428e-01, -1.9979e-01, -8.0537e-01],
[ 0.0000e+00, 6.1781e-01, -7.8633e-01, -3.1698e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 9.4376e-01, 8.3032e-03, -3.3052e-01, -1.3324e+00],
[-3.3063e-01, 2.3701e-02, -9.4346e-01, -3.8032e+00],
[ 0.0000e+00, 9.9968e-01, 2.5113e-02, 1.0124e-01],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 5.6140e-01, -1.2033e-01, 8.1875e-01, 3.3005e+00],
[ 8.2755e-01, 8.1633e-02, -5.5543e-01, -2.2390e+00],
[ 7.4506e-09, 9.8937e-01, 1.4541e-01, 5.8617e-01],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 9.7351e-01, -2.1718e-01, 7.1427e-02, 2.8793e-01],
[ 2.2863e-01, 9.2479e-01, -3.0414e-01, -1.2260e+00],
[ 7.4506e-09, 3.1242e-01, 9.4995e-01, 3.8294e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-8.9831e-01, -3.7212e-01, 2.3361e-01, 9.4173e-01],
[ 4.3937e-01, -7.6080e-01, 4.7763e-01, 1.9254e+00],
[ 1.4901e-08, 5.3170e-01, 8.4693e-01, 3.4141e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-8.1105e-01, -4.5696e-02, -5.8319e-01, -2.3509e+00],
[-5.8498e-01, 6.3355e-02, 8.0857e-01, 3.2594e+00],
[ 0.0000e+00, 9.9694e-01, -7.8115e-02, -3.1489e-01],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 9.9929e-01, -1.1559e-03, -3.7730e-02, -1.5209e-01],
[-3.7748e-02, -3.0600e-02, -9.9882e-01, -4.0264e+00],
[ 0.0000e+00, 9.9953e-01, -3.0622e-02, -1.2344e-01],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-9.8722e-01, -1.3673e-01, -8.1904e-02, -3.3017e-01],
[-1.5938e-01, 8.4689e-01, 5.0732e-01, 2.0451e+00],
[ 0.0000e+00, 5.1389e-01, -8.5786e-01, -3.4581e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-8.6650e-01, -4.9679e-01, 4.8799e-02, 1.9672e-01],
[ 4.9918e-01, -8.6235e-01, 8.4708e-02, 3.4147e-01],
[ 0.0000e+00, 9.7758e-02, 9.9521e-01, 4.0118e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-8.7744e-01, 4.7504e-01, 6.6590e-02, 2.6843e-01],
[ 4.7969e-01, 8.6894e-01, 1.2180e-01, 4.9101e-01],
[ 3.7253e-09, 1.3882e-01, -9.9032e-01, -3.9921e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-8.9027e-01, 3.2462e-02, 4.5428e-01, 1.8313e+00],
[ 4.5544e-01, 6.3455e-02, 8.8800e-01, 3.5796e+00],
[-1.8626e-09, 9.9746e-01, -7.1276e-02, -2.8732e-01],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-9.8564e-01, -8.1655e-02, -1.4780e-01, -5.9582e-01],
[-1.6886e-01, 4.7662e-01, 8.6274e-01, 3.4778e+00],
[-7.4506e-09, 8.7531e-01, -4.8357e-01, -1.9493e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-7.9652e-02, 2.9931e-01, 9.5083e-01, 3.8329e+00],
[ 9.9682e-01, 2.3917e-02, 7.5977e-02, 3.0627e-01],
[ 1.8626e-09, 9.5386e-01, -3.0026e-01, -1.2104e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-4.6908e-01, -7.8746e-01, -3.9984e-01, -1.6118e+00],
[-8.8315e-01, 4.1825e-01, 2.1237e-01, 8.5610e-01],
[ 1.4901e-08, 4.5274e-01, -8.9164e-01, -3.5943e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 9.4129e-01, -1.6403e-01, -2.9505e-01, -1.1894e+00],
[-3.3759e-01, -4.5738e-01, -8.2270e-01, -3.3164e+00],
[ 0.0000e+00, 8.7401e-01, -4.8590e-01, -1.9587e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-5.7421e-01, 4.3346e-01, -6.9454e-01, -2.7998e+00],
[-8.1870e-01, -3.0401e-01, 4.8713e-01, 1.9637e+00],
[ 2.9802e-08, 8.4835e-01, 5.2944e-01, 2.1343e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-7.7566e-01, 3.8037e-01, 5.0365e-01, 2.0303e+00],
[ 6.3115e-01, 4.6747e-01, 6.1897e-01, 2.4952e+00],
[ 0.0000e+00, 7.9799e-01, -6.0267e-01, -2.4294e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 7.9804e-01, 1.6806e-02, 6.0237e-01, 2.4282e+00],
[ 6.0261e-01, -2.2256e-02, -7.9773e-01, -3.2157e+00],
[ 0.0000e+00, 9.9961e-01, -2.7888e-02, -1.1242e-01],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 3.8501e-01, 2.3940e-01, 8.9132e-01, 3.5930e+00],
[ 9.2291e-01, -9.9871e-02, -3.7183e-01, -1.4989e+00],
[-7.4506e-09, 9.6577e-01, -2.5940e-01, -1.0457e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[-1.9817e-01, -1.2075e-03, 9.8017e-01, 3.9512e+00],
[ 9.8017e-01, -2.4414e-04, 1.9817e-01, 7.9886e-01],
[-1.4552e-11, 1.0000e+00, 1.2320e-03, 4.9662e-03],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]],
[[ 7.1389e-01, 3.2750e-01, -6.1896e-01, -2.4951e+00],
[-7.0026e-01, 3.3387e-01, -6.3100e-01, -2.5437e+00],
[ 2.9802e-08, 8.8390e-01, 4.6768e-01, 1.8853e+00],
[ 0.0000e+00, 0.0000e+00, 0.0000e+00, 1.0000e+00]]],
device = "cuda"
)