Get base linear velocity
(sim_data)
| 540 | |
| 541 | |
| 542 | def get_base_lin_vel(sim_data): |
| 543 | """Get base linear velocity""" |
| 544 | linvel_b = quat_rotate_inverse_np(sim_data.qpos[3:7], sim_data.qvel[0:3]) |
| 545 | # return sim_data.qvel[0:3] # shape [3] |
| 546 | return linvel_b |
| 547 | |
| 548 | |
| 549 | def get_base_ang_vel(sim_data): |
no test coverage detected