Method force_torque

dm_control/suite/quadruped.py:191–195

Returns scaled force/torque sensor readings at the toes.

(self)

    return torso_to_toe.dot(torso_frame)

  def force_torque(self):
    """Returns scaled force/torque sensor readings at the toes."""
    force_torque_sensors = self._get_sensor_names(enums.mjtSensor.mjSENS_FORCE,
                                                  enums.mjtSensor.mjSENS_TORQUE)
    return np.arcsinh(self.named.data.sensordata[force_torque_sensors])

  def imu(self):
    """Returns IMU-like sensor readings."""