Get gravity vector in body frame
(quat)
| 52 | ]) |
| 53 | |
| 54 | def get_gravity_orientation(quat): |
| 55 | """Get gravity vector in body frame""" |
| 56 | gravity_vec = np.array([0.0, 0.0, -1.0]) |
| 57 | return quat_rotate_inverse(quat, gravity_vec) |
| 58 | |
| 59 | def compute_observation(d, config, action, cmd, height_cmd, n_joints): |
| 60 | """Compute the observation vector from current state""" |
no test coverage detected