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Clamp matrices in matrix_to_euler_angles function (#1989)

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Summary:
Closes https://github.com/facebookresearch/pytorch3d/issues/1988

Credit goes to tylerlum for raising this issue and suggesting this fix in https://github.com/haosulab/ManiSkill/pull/1090

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1989

Reviewed By: MichaelRamamonjisoa

Differential Revision: D78021983

Pulled By: bottler

fbshipit-source-id: d723f1924a399f4d7fd072e96ea740ae73cf280f
This commit is contained in:
Stone Tao 2025-07-10 06:08:19 -07:00 committed by Facebook GitHub Bot
parent e55ea90609
commit e3d3a67a89
1 changed files with 3 additions and 2 deletions
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5
pytorch3d/transforms/rotation_conversions.py
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@ -294,10 +294,11 @@ def matrix_to_euler_angles(matrix: torch.Tensor, convention: str) -> torch.Tenso
tait_bryan = i0 != i2
if tait_bryan:
central_angle = torch.asin(
matrix[..., i0, i2] * (-1.0 if i0 - i2 in [-1, 2] else 1.0)
torch.clamp(matrix[..., i0, i2], -1.0, 1.0)
* (-1.0 if i0 - i2 in [-1, 2] else 1.0)
)
else:
central_angle = torch.acos(matrix[..., i0, i0])
central_angle = torch.acos(torch.clamp(matrix[..., i0, i0], -1.0, 1.0))
o = (
_angle_from_tan(