//  [python]
def batch_get_pelvis_orient(rel_pose_skeleton, rel_rest_pose, parents,
                            children, dtype):
    """Get pelvis orientation for batch data.

    Args:
        rel_pose_skeleton (torch.tensor):
            Locations of root-normalized pose skeleton with shape (Bx29x3)
        rel_rest_pose (torch.tensor):
            Locations of rest/ template pose with shape (Bx29x3)
        parents (List[int]): list of indexes of kinematic parents with len 29
        children (List[int]): list of indexes of kinematic children with len 29
        dtype (torch.dtype, optional):
            Data type of the created tensors, the default is torch.float32

    Returns:
        rot_mat (torch.tensor):
            Rotation matrix of pelvis with shape (Bx3x3)
    """
    batch_size = rel_pose_skeleton.shape[0]
    device = rel_pose_skeleton.device

    assert children[0] == 3
    pelvis_child = [int(children[0])]
    for i in range(1, parents.shape[0]):
        if parents[i] == 0 and i not in pelvis_child:
            pelvis_child.append(i)

    spine_final_loc = rel_pose_skeleton[:, int(children[0])].clone()
    spine_rest_loc = rel_rest_pose[:, int(children[0])].clone()
    # spine_norm = torch.norm(spine_final_loc, dim=1, keepdim=True)
    # spine_norm = spine_final_loc / (spine_norm + 1e-8)

    # rot_mat_spine = vectors2rotmat(spine_rest_loc, spine_final_loc, dtype)

    # (B, 1, 1)
    vec_final_norm = torch.norm(spine_final_loc, dim=1, keepdim=True)
    vec_rest_norm = torch.norm(spine_rest_loc, dim=1, keepdim=True)

    spine_norm = spine_final_loc / (vec_final_norm + 1e-8)

    # (B, 3, 1)
    axis = torch.cross(spine_rest_loc, spine_final_loc, dim=1)
    axis_norm = torch.norm(axis, dim=1, keepdim=True)
    axis = axis / (axis_norm + 1e-8)
    angle = torch.arccos(
        torch.sum(spine_rest_loc * spine_final_loc, dim=1, keepdim=True) /
        (vec_rest_norm * vec_final_norm + 1e-8))
    axis_angle = (angle * axis).squeeze()
    # aa to rotmat
    rot_mat_spine = aa_to_rotmat(axis_angle)

    assert torch.sum(torch.isnan(rot_mat_spine)) == 0, ('rot_mat_spine',
                                                        rot_mat_spine)
    center_final_loc = 0
    center_rest_loc = 0
    for child in pelvis_child:
        if child == int(children[0]):
            continue
        center_final_loc = center_final_loc + rel_pose_skeleton[:,
                                                                child].clone()
        center_rest_loc = center_rest_loc + rel_rest_pose[:, child].clone()
    center_final_loc = center_final_loc / (len(pelvis_child) - 1)
    center_rest_loc = center_rest_loc / (len(pelvis_child) - 1)

    center_rest_loc = torch.matmul(rot_mat_spine, center_rest_loc)

    center_final_loc = center_final_loc - torch.sum(
        center_final_loc * spine_norm, dim=1, keepdim=True) * spine_norm
    center_rest_loc = center_rest_loc - torch.sum(
        center_rest_loc * spine_norm, dim=1, keepdim=True) * spine_norm

    center_final_loc_norm = torch.norm(center_final_loc, dim=1, keepdim=True)
    center_rest_loc_norm = torch.norm(center_rest_loc, dim=1, keepdim=True)

    # (B, 3, 1)
    axis = torch.cross(center_rest_loc, center_final_loc, dim=1)
    axis_norm = torch.norm(axis, dim=1, keepdim=True)

    # (B, 1, 1)
    cos = torch.sum(
        center_rest_loc * center_final_loc, dim=1, keepdim=True) / (
            center_rest_loc_norm * center_final_loc_norm + 1e-8)
    sin = axis_norm / (center_rest_loc_norm * center_final_loc_norm + 1e-8)

    assert torch.sum(torch.isnan(cos)) == 0, ('cos', cos)
    assert torch.sum(torch.isnan(sin)) == 0, ('sin', sin)
    # (B, 3, 1)
    axis = axis / (axis_norm + 1e-8)

    # Convert location revolve to rot_mat by rodrigues
    # (B, 1, 1)
    rx, ry, rz = torch.split(axis, 1, dim=1)
    zeros = torch.zeros((batch_size, 1, 1), dtype=dtype, device=device)

    K = torch.cat([zeros, -rz, ry, rz, zeros, -rx, -ry, rx, zeros], dim=1) \
        .view((batch_size, 3, 3))
    ident = torch.eye(3, dtype=dtype, device=device).unsqueeze(dim=0)
    rot_mat_center = ident + sin * K + (1 - cos) * torch.bmm(K, K)

    rot_mat = torch.matmul(rot_mat_center, rot_mat_spine)

    return rot_mat