Method _compute_velocities

TextOpTracker/scripts/csv_to_npz.py:166–170

Computes the velocities of the motion.

(self)

        return index_0, index_1, blend

    def _compute_velocities(self):
        """Computes the velocities of the motion."""
        self.motion_base_lin_vels = torch.gradient(self.motion_base_poss, spacing=self.output_dt, dim=0)[0]
        self.motion_dof_vels = torch.gradient(self.motion_dof_poss, spacing=self.output_dt, dim=0)[0]
        self.motion_base_ang_vels = self._so3_derivative(self.motion_base_rots, self.output_dt)

    def _so3_derivative(self, rotations: torch.Tensor, dt: float) -> torch.Tensor:
        """Computes the derivative of a sequence of SO3 rotations.