Method imu

dm_control/suite/quadruped.py:197–201

Returns IMU-like sensor readings.

(self)

    return np.arcsinh(self.named.data.sensordata[force_torque_sensors])

  def imu(self):
    """Returns IMU-like sensor readings."""
    imu_sensors = self._get_sensor_names(enums.mjtSensor.mjSENS_GYRO,
                                         enums.mjtSensor.mjSENS_ACCELEROMETER)
    return self.named.data.sensordata[imu_sensors]

  def rangefinder(self):
    """Returns scaled rangefinder sensor readings."""