isaacgym_utils/math_utils.py
def angle_axis_between_axes(v0, v1):
    ''' Computes the angle-axis rotation that brings v0 to v1
    '''
    v = np.cross(v0, v1)
    norm_v = np.linalg.norm(v)

    if np.isclose(norm_v, 0, atol=1e-5):
        return np.zeros(3)
    
    axis = v / norm_v
    angle = angle_between_axes(v0, v1)

    return angle * axis
 Computes the angle-axis rotation that brings v0 to v1
    
Computes the angle-axis rotation that brings v0 to v1
Computes the angle - axis rotation that brings v0 to v1
def angle_axis_between_axes(v0, v1):
    v = np.cross(v0, v1)
    norm_v = np.linalg.norm(v)
    if np.isclose(norm_v, 0, atol=1e-5):
        return np.zeros(3)
    axis = v / norm_v
    angle = angle_between_axes(v0, v1)
    return angle * axis
def angle_axis_between_axes ( v0 , v1 ) : v = np . cross ( v0 , v1 ) norm_v = np . linalg . norm ( v ) if np . isclose ( norm_v , 0 , atol = 1e-5 ) : return np . zeros ( 3 ) axis = v / norm_v angle = angle_between_axes ( v0 , v1 ) return angle * axis
Computes the angle-axis rotation that brings v0 to v1
Computes the angle - axis rotation that brings v0 to v1
''' Computes the angle-axis rotation that brings v0 to v1
    '''
v0
v1