unilab.tasks.motion_tracking.common.kernels.update_motion_metrics_kernel

unilab.tasks.motion_tracking.common.kernels.update_motion_metrics_kernel(env_ids, anchor_body_idx, motion_body_pos_w, robot_body_pos_w, motion_body_quat_w, robot_body_quat_w, motion_body_lin_vel_w, robot_body_lin_vel_w, motion_body_ang_vel_w, robot_body_ang_vel_w, body_pos_relative_w, body_quat_relative_w, motion_joint_pos, robot_joint_pos, motion_joint_vel, robot_joint_vel, error_anchor_pos, error_anchor_rot, error_anchor_lin_vel, error_anchor_ang_vel, error_body_pos, error_body_rot, error_body_lin_vel, error_body_ang_vel, error_joint_pos, error_joint_vel)[source]

Write all MotionCommand error metrics for the selected environment rows.

env_ids is a cold-path-owned all-row index buffer for normal steps and the reset row list for partial resets. Keeping one kernel for both paths avoids a second production mathematical implementation while preserving the manager’s row-scoped reset contract.

Parameters:
Return type:

None