(self)
return roll_pitch_yaw
Get minitaur's base orientation in euler angle in the world frame.

    This function mimicks the noisy sensor reading and adds latency.
    Returns:
      A tuple (roll, pitch, yaw) of the base in world frame polluted by noise
      and latency.
Get minitaur's base orientation in euler angle in the world frame.
Get minitaur s base orientation in euler angle in the world frame .
def GetBaseRollPitchYaw(self):
    """Get minitaur's base orientation in euler angle in the world frame.

    This function mimicks the noisy sensor reading and adds latency.
    Returns:
      A tuple (roll, pitch, yaw) of the base in world frame polluted by noise
      and latency.
    """
    delayed_orientation = np.array(
        self._control_observation[3 * self.num_motors:3 * self.num_motors + 4])
    delayed_roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(
        delayed_orientation)
    roll_pitch_yaw = self._AddSensorNoise(np.array(delayed_roll_pitch_yaw),
                                          self._observation_noise_stdev[3])
    return roll_pitch_yaw
def GetBaseRollPitchYaw ( self ) : delayed_orientation = np . array ( self . _control_observation [ 3 * self . num_motors : 3 * self . num_motors + 4 ] ) delayed_roll_pitch_yaw = self . _pybullet_client . getEulerFromQuaternion ( delayed_orientation ) roll_pitch_yaw = self . _AddSensorNoise ( np . array ( delayed_roll_pitch_yaw ) , self . _observation_noise_stdev [ 3 ] ) return roll_pitch_yaw