ravens/tasks/task.py
def apply(self, pose, position):
        """Daniel: apply a rigid body transformation on `position` by `pose`.

        The `pose` has the rotation matrix and translation vector. Apply the
        rotation matrix on `position` and then translate. Example: used in
        cables env to sequentially translate each bead in the cable.

        Returns a *position*, not a pose (no orientation).
        """
        position = np.float32(position)
        position_shape = position.shape
        position = np.float32(position).reshape(3, -1)
        rotation = np.float32(p.getMatrixFromQuaternion(pose[1])).reshape(3, 3)
        translation = np.float32(pose[0]).reshape(3, 1)
        position = rotation @ position + translation
        return tuple(position.reshape(position_shape))
Daniel: apply a rigid body transformation on `position` by `pose`.

        The `pose` has the rotation matrix and translation vector. Apply the
        rotation matrix on `position` and then translate. Example: used in
        cables env to sequentially translate each bead in the cable.

        Returns a *position*, not a pose (no orientation).
        
apply a rigid body transformation on `position` by `pose`.
The `pose` has the rotation matrix and translation vector. Apply the
rotation matrix on `position` and then translate. Example: used in
cables env to sequentially translate each bead in the cable.

Returns a *position*, not a pose (no orientation).
apply a rigid body transformation on ` position ` by ` pose ` . The ` pose ` has the rotation matrix and translation vector . Apply the rotation matrix on ` position ` and then translate . Example : used in cables env to sequentially translate each bead in the cable . Returns a * position * not a pose ( no orientation ) .
def apply(self, pose, position):
        position = np.float32(position)
        position_shape = position.shape
        position = np.float32(position).reshape(3, -1)
        rotation = np.float32(p.getMatrixFromQuaternion(pose[1])).reshape(3, 3)
        translation = np.float32(pose[0]).reshape(3, 1)
        position = rotation @ position + translation
        return tuple(position.reshape(position_shape))
def apply ( self , pose , position ) : position = np . float32 ( position ) position_shape = position . shape position = np . float32 ( position ) . reshape ( 3 , - 1 ) rotation = np . float32 ( p . getMatrixFromQuaternion ( pose [ 1 ] ) ) . reshape ( 3 , 3 ) translation = np . float32 ( pose [ 0 ] ) . reshape ( 3 , 1 ) position = rotation @ position + translation return tuple ( position . reshape ( position_shape ) )
Daniel: apply a rigid body transformation on `position` by `pose`.
Daniel : apply a rigid body transformation on ` position ` by ` pose ` .
"""Daniel: apply a rigid body transformation on `position` by `pose`.

        The `pose` has the rotation matrix and translation vector. Apply the
        rotation matrix on `position` and then translate. Example: used in
        cables env to sequentially translate each bead in the cable.

        Returns a *position*, not a pose (no orientation).
        """
self
pose
position