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unilab.tasks.motion_tracking.common.motion_loader.compute_motion_velocities

unilab.tasks.motion_tracking.common.motion_loader.compute_motion_velocities(base_poss, base_rots, dof_poss, dt)

Numerically differentiate a trajectory into base/dof velocities.

Parameters:

• base_poss (ndarray)

• base_rots (ndarray)

• dof_poss (ndarray)

• dt (float)

Return type:

tuple[ndarray, ndarray, ndarray]