unilab.tasks.motion_tracking.common.kernels.update_motion_relative_state_kernel¶
- unilab.tasks.motion_tracking.common.kernels.update_motion_relative_state_kernel(env_ids, anchor_body_idx, motion_body_pos_local_w, motion_body_pos_w, motion_body_quat_w, robot_body_pos_w, robot_body_quat_w, body_pos_relative_w, body_quat_relative_w, motion_anchor_pos_b, motion_anchor_ori_b, robot_body_pos_b, robot_body_ori_b)[source]¶
Write all MotionCommand relative transforms for selected rows.
- Parameters:
env_ids (
ndarray)anchor_body_idx (
int)motion_body_pos_local_w (
ndarray)motion_body_pos_w (
ndarray)motion_body_quat_w (
ndarray)robot_body_pos_w (
ndarray)robot_body_quat_w (
ndarray)body_pos_relative_w (
ndarray)body_quat_relative_w (
ndarray)motion_anchor_pos_b (
ndarray)motion_anchor_ori_b (
ndarray)robot_body_pos_b (
ndarray)robot_body_ori_b (
ndarray)
- Return type: