Get base angular velocity Pay special attention: - The angular velocity sim_data.qvel[3:6] is in the body frame, not the world frame. - The angular velocity sim_data.qvel[3:6] is in the body frame, not the world frame.
(sim_data)
| 547 | |
| 548 | |
| 549 | def get_base_ang_vel(sim_data): |
| 550 | """Get base angular velocity |
| 551 | |
| 552 | Pay special attention: |
| 553 | - The angular velocity sim_data.qvel[3:6] is in the body frame, not the world frame. |
| 554 | - The angular velocity sim_data.qvel[3:6] is in the body frame, not the world frame. |
| 555 | """ |
| 556 | |
| 557 | return sim_data.qvel[3:6] # shape [3] |
| 558 | |
| 559 | |
| 560 | def get_joint_pos_rel(sim_data): |
no outgoing calls
no test coverage detected