unilab.envs.common.rotation.np_quat_apply_batched
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unilab.envs.common.rotation.np_quat_apply_batched(q, v)[source]
Rotate broadcast-compatible vector arrays by quaternions.
q has shape (…, 4), v has shape (…, 3), and leading dimensions
are broadcast. This avoids flattening/tile allocations in hot env paths.
- Parameters:
-
- Return type:
ndarray