def se2_to_cell_batch(pos, mapmin, mapres):
  """
  Coversion for Batch input : pos = [batch_size, 2 or 3]

  OUTPUT: [batch_size,], [batch_size,]
  """
  return round((pos[:,0] - mapmin[0])/mapres[0] - 0.5), round((pos[:,1] - mapmin[1])/mapres[1] - 0.5)