diff --git a/mediapipe/calculators/tensor/BUILD b/mediapipe/calculators/tensor/BUILD
index 7ebba901cd..d7e2313d5d 100644
--- a/mediapipe/calculators/tensor/BUILD
+++ b/mediapipe/calculators/tensor/BUILD
@@ -980,6 +980,48 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "tensor_to_joints_calculator",
+    srcs = ["tensor_to_joints_calculator.cc"],
+    hdrs = ["tensor_to_joints_calculator.h"],
+    deps = [
+        ":tensor_to_joints_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/api2:node",
+        "//mediapipe/framework/formats:body_rig_cc_proto",
+        "//mediapipe/framework/formats:tensor",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+    ],
+    alwayslink = 1,
+)
+
+mediapipe_proto_library(
+    name = "tensor_to_joints_calculator_proto",
+    srcs = ["tensor_to_joints_calculator.proto"],
+    deps = [
+        "//mediapipe/framework:calculator_options_proto",
+        "//mediapipe/framework:calculator_proto",
+    ],
+)
+
+cc_test(
+    name = "tensor_to_joints_calculator_test",
+    srcs = ["tensor_to_joints_calculator_test.cc"],
+    deps = [
+        ":tensor_to_joints_calculator",
+        ":tensor_to_joints_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework:calculator_runner",
+        "//mediapipe/framework:timestamp",
+        "//mediapipe/framework/formats:body_rig_cc_proto",
+        "//mediapipe/framework/formats:tensor",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:parse_text_proto",
+        "@com_google_absl//absl/strings",
+    ],
+)
+
 cc_library(
     name = "image_to_tensor_calculator",
     srcs = ["image_to_tensor_calculator.cc"],
diff --git a/mediapipe/calculators/tensor/tensor_to_joints_calculator.cc b/mediapipe/calculators/tensor/tensor_to_joints_calculator.cc
new file mode 100644
index 0000000000..07b919ab23
--- /dev/null
+++ b/mediapipe/calculators/tensor/tensor_to_joints_calculator.cc
@@ -0,0 +1,84 @@
+// Copyright 2023 The MediaPipe Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "mediapipe/calculators/tensor/tensor_to_joints_calculator.h"
+
+#include <utility>
+
+#include "mediapipe/calculators/tensor/tensor_to_joints_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/body_rig.pb.h"
+#include "mediapipe/framework/formats/tensor.h"
+#include "mediapipe/framework/port/ret_check.h"
+
+namespace mediapipe {
+namespace api2 {
+namespace {
+
+// Number of values in 6D representation of rotation.
+constexpr int kRotation6dSize = 6;
+
+}  // namespace
+
+class TensorToJointsCalculatorImpl
+    : public mediapipe::api2::NodeImpl<TensorToJointsCalculator> {
+ public:
+  absl::Status Open(CalculatorContext* cc) override {
+    const auto& options = cc->Options<TensorToJointsCalculatorOptions>();
+
+    // Get number of joints.
+    RET_CHECK_GE(options.num_joints(), 0);
+    num_joints_ = options.num_joints();
+
+    // Get start index.
+    start_index_ = options.start_index();
+
+    return absl::OkStatus();
+  }
+
+  absl::Status Process(CalculatorContext* cc) override {
+    // Skip if Tensor is empty.
+    if (kInTensor(cc).IsEmpty()) {
+      return absl::OkStatus();
+    }
+
+    // Get raw floats from the Tensor.
+    const Tensor& tensor = kInTensor(cc).Get();
+    RET_CHECK_EQ(tensor.shape().num_elements(),
+                 num_joints_ * kRotation6dSize + start_index_)
+        << "Unexpected number of values in Tensor";
+    const float* raw_floats = tensor.GetCpuReadView().buffer<float>();
+
+    // Convert raw floats into Joint rotations.
+    JointList joints;
+    for (int joint_idx = 0; joint_idx < num_joints_; ++joint_idx) {
+      Joint* joint = joints.add_joint();
+      for (int idx_6d = 0; idx_6d < kRotation6dSize; ++idx_6d) {
+        joint->add_rotation_6d(
+            raw_floats[start_index_ + joint_idx * kRotation6dSize + idx_6d]);
+      }
+    }
+
+    kOutJoints(cc).Send(std::move(joints));
+    return absl::OkStatus();
+  }
+
+ private:
+  int num_joints_ = 0;
+  int start_index_ = 0;
+};
+MEDIAPIPE_NODE_IMPLEMENTATION(TensorToJointsCalculatorImpl);
+
+}  // namespace api2
+}  // namespace mediapipe
diff --git a/mediapipe/calculators/tensor/tensor_to_joints_calculator.h b/mediapipe/calculators/tensor/tensor_to_joints_calculator.h
new file mode 100644
index 0000000000..c2798526e7
--- /dev/null
+++ b/mediapipe/calculators/tensor/tensor_to_joints_calculator.h
@@ -0,0 +1,64 @@
+// Copyright 2023 The MediaPipe Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MEDIAPIPE_CALCULATORS_TENSOR_TENSOR_TO_JOINTS_CALCULATOR_H_
+#define MEDIAPIPE_CALCULATORS_TENSOR_TENSOR_TO_JOINTS_CALCULATOR_H_
+
+#include <memory>
+
+#include "mediapipe/framework/api2/node.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/body_rig.pb.h"
+#include "mediapipe/framework/formats/tensor.h"
+
+namespace mediapipe {
+namespace api2 {
+
+// A calculator to convert Tensors to JointList.
+//
+// Calculator fills in only rotation of the joints leaving visibility undefined.
+//
+// Input:
+//   TENSOR - std::vector<Tensor> with kFloat32 values
+//     Vector of tensors to be converted to joints. Only the first tensor will
+//     be used. Number of values is expected to be multiple of six.
+//
+// Output:
+//   JOINTS - JointList
+//     List of joints with rotations extracted from given tensor and undefined
+//     visibility.
+//
+// Example:
+//   node {
+//     calculator: "TensorToJointsCalculator"
+//     input_stream: "TENSOR:tensor"
+//     output_stream: "JOINTS:joints"
+//     options: {
+//       [mediapipe.TensorToJointsCalculatorOptions.ext] {
+//         num_joints: 56
+//         start_index: 3
+//       }
+//     }
+//   }
+class TensorToJointsCalculator : public NodeIntf {
+ public:
+  static constexpr Input<mediapipe::Tensor> kInTensor{"TENSOR"};
+  static constexpr Output<mediapipe::JointList> kOutJoints{"JOINTS"};
+  MEDIAPIPE_NODE_INTERFACE(TensorToJointsCalculator, kInTensor, kOutJoints);
+};
+
+}  // namespace api2
+}  // namespace mediapipe
+
+#endif  // MEDIAPIPE_CALCULATORS_TENSOR_TENSOR_TO_JOINTS_CALCULATOR_H_
diff --git a/mediapipe/calculators/tensor/tensor_to_joints_calculator.proto b/mediapipe/calculators/tensor/tensor_to_joints_calculator.proto
new file mode 100644
index 0000000000..3534e35ba9
--- /dev/null
+++ b/mediapipe/calculators/tensor/tensor_to_joints_calculator.proto
@@ -0,0 +1,32 @@
+// Copyright 2023 The MediaPipe Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+
+message TensorToJointsCalculatorOptions {
+  extend CalculatorOptions {
+    optional TensorToJointsCalculatorOptions ext = 406440177;
+  }
+
+  // Number of joints from the output of the model. Calculator will expect the
+  // tensor to contain `6 * num_joints + start_index` values.
+  optional int32 num_joints = 1;
+
+  // Index to start reading 6 value blocks from.
+  optional int32 start_index = 2 [default = 0];
+}
diff --git a/mediapipe/calculators/tensor/tensor_to_joints_calculator_test.cc b/mediapipe/calculators/tensor/tensor_to_joints_calculator_test.cc
new file mode 100644
index 0000000000..7d29899f4e
--- /dev/null
+++ b/mediapipe/calculators/tensor/tensor_to_joints_calculator_test.cc
@@ -0,0 +1,123 @@
+// Copyright 2023 The MediaPipe Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "absl/strings/substitute.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/calculator_runner.h"
+#include "mediapipe/framework/formats/body_rig.pb.h"
+#include "mediapipe/framework/formats/tensor.h"
+#include "mediapipe/framework/port/gmock.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status_matchers.h"
+#include "mediapipe/framework/timestamp.h"
+
+namespace mediapipe {
+namespace api2 {
+namespace {
+
+using Node = ::mediapipe::CalculatorGraphConfig::Node;
+
+struct TensorToJointsTestCase {
+  std::string test_name;
+  int num_joints;
+  int start_index;
+  std::vector<float> raw_values;
+  std::vector<std::vector<float>> expected_rotations;
+};
+
+using TensorToJointsTest = ::testing::TestWithParam<TensorToJointsTestCase>;
+
+TEST_P(TensorToJointsTest, TensorToJointsTest) {
+  const TensorToJointsTestCase& tc = GetParam();
+
+  // Prepare graph.
+  mediapipe::CalculatorRunner runner(ParseTextProtoOrDie<Node>(absl::Substitute(
+      R"(
+      calculator: "TensorToJointsCalculator"
+      input_stream: "TENSOR:tensor"
+      output_stream: "JOINTS:joints"
+      options: {
+        [mediapipe.TensorToJointsCalculatorOptions.ext] {
+          num_joints: $0
+          start_index: $1
+        }
+      }
+  )",
+      tc.num_joints, tc.start_index)));
+
+  // Prepare tensor.
+  Tensor tensor(Tensor::ElementType::kFloat32,
+                Tensor::Shape{1, 1, static_cast<int>(tc.raw_values.size()), 1});
+  float* tensor_buffer = tensor.GetCpuWriteView().buffer<float>();
+  ASSERT_NE(tensor_buffer, nullptr);
+  for (int i = 0; i < tc.raw_values.size(); ++i) {
+    tensor_buffer[i] = tc.raw_values[i];
+  }
+
+  // Send tensor to the graph.
+  runner.MutableInputs()->Tag("TENSOR").packets.push_back(
+      mediapipe::MakePacket<Tensor>(std::move(tensor)).At(Timestamp(0)));
+
+  // Run the graph.
+  MP_ASSERT_OK(runner.Run());
+
+  const auto& output_packets = runner.Outputs().Tag("JOINTS").packets;
+  EXPECT_EQ(1, output_packets.size());
+
+  const auto& joints = output_packets[0].Get<JointList>();
+  EXPECT_EQ(joints.joint_size(), tc.expected_rotations.size());
+  for (int i = 0; i < joints.joint_size(); ++i) {
+    const Joint& joint = joints.joint(i);
+    std::vector<float> expected_rotation_6d = tc.expected_rotations[i];
+    EXPECT_EQ(joint.rotation_6d_size(), expected_rotation_6d.size())
+        << "Unexpected joint #" << i << " rotation";
+    for (int j = 0; j < joint.rotation_6d_size(); ++j) {
+      EXPECT_EQ(joint.rotation_6d(j), expected_rotation_6d[j])
+          << "Unexpected joint #" << i << " rotation";
+    }
+    EXPECT_FALSE(joint.has_visibility());
+  }
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    TensorToJointsTests, TensorToJointsTest,
+    testing::ValuesIn<TensorToJointsTestCase>({
+        {"Empty", 0, 3, {0, 0, 0}, {}},
+
+        {"Single",
+         1,
+         3,
+         {0, 0, 0, 10, 11, 12, 13, 14, 15},
+         {{10, 11, 12, 13, 14, 15}}},
+
+        {"Double",
+         2,
+         3,
+         {0, 0, 0, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21},
+         {{10, 11, 12, 13, 14, 15}, {16, 17, 18, 19, 20, 21}}},
+    }),
+    [](const testing::TestParamInfo<TensorToJointsTest::ParamType>& info) {
+      return info.param.test_name;
+    });
+
+}  // namespace
+}  // namespace api2
+}  // namespace mediapipe