(self, physics: 'mjcf.Physics')
return tr.quat_to_axisangle(normed_diff) / self._control_timestep
Gyro measurements in the prev root frame at the control timestep.
Gyro measurements in the prev root frame at the control timestep.
Gyro measurements in the prev root frame at the control timestep .
def get_gyro_control(self, physics: 'mjcf.Physics'):
    """Gyro measurements in the prev root frame at the control timestep."""
    del physics  # physics unused by get_gyro_control.

    quat_curr, quat_prev = (self._walker_features['quaternion'],
                            self._walker_features_prev['quaternion'])
    normed_diff = tr.quat_diff(quat_prev, quat_curr)
    normed_diff /= np.linalg.norm(normed_diff)
    return tr.quat_to_axisangle(normed_diff) / self._control_timestep
def get_gyro_control ( self , physics : 'mjcf.Physics' ) : del physics # physics unused by get_gyro_control. quat_curr , quat_prev = ( self . _walker_features [ 'quaternion' ] , self . _walker_features_prev [ 'quaternion' ] ) normed_diff = tr . quat_diff ( quat_prev , quat_curr ) normed_diff /= np . linalg . norm ( normed_diff ) return tr . quat_to_axisangle ( normed_diff ) / self . _control_timestep