(self, physics: 'mjcf.Physics')
return np.dot(veloc_world, rmat_prev)
Velocity measurements in the prev root frame at the control timestep.
Velocity measurements in the prev root frame at the control timestep.
Velocity measurements in the prev root frame at the control timestep .
def get_veloc_control(self, physics: 'mjcf.Physics'):
    """Velocity measurements in the prev root frame at the control timestep."""
    del physics  # physics unused by get_veloc_control.

    rmat_prev = tr.quat_to_mat(self._walker_features_prev['quaternion'])[:3, :3]
    veloc_world = (
        self._walker_features['position'] -
        self._walker_features_prev['position']) / self._control_timestep
    return np.dot(veloc_world, rmat_prev)
def get_veloc_control ( self , physics : 'mjcf.Physics' ) : del physics # physics unused by get_veloc_control. rmat_prev = tr . quat_to_mat ( self . _walker_features_prev [ 'quaternion' ] ) [ : 3 , : 3 ] veloc_world = ( self . _walker_features [ 'position' ] - self . _walker_features_prev [ 'position' ] ) / self . _control_timestep return np . dot ( veloc_world , rmat_prev )