Language Language English 简体中文 unilab.envs.common.rotation.np_subtract_anchor_frame_transforms¶ unilab.envs.common.rotation.np_subtract_anchor_frame_transforms(anchor_pos, anchor_quat, body_pos, body_quat)[source]¶ Compute body transforms relative to per-env anchors. anchor_pos/anchor_quat are shaped (N, 3)/(N, 4), while body_pos/body_quat are shaped (N, B, 3)/(N, B, 4). Parameters: anchor_pos (ndarray) anchor_quat (ndarray) body_pos (ndarray) body_quat (ndarray) Return type: tuple[ndarray, ndarray]