Language Language English 简体中文 unilab.envs.common.rotation.np_subtract_frame_transforms¶ unilab.envs.common.rotation.np_subtract_frame_transforms(pos1, quat1, pos2, quat2)[source]¶ Compute relative transform from frame 1 to frame 2 in frame-1 coordinates. Parameters: pos1 (ndarray) quat1 (ndarray) pos2 (ndarray) quat2 (ndarray) Return type: tuple[ndarray, ndarray]