data_get¶
Util functions for mujoco s
Module Contents¶
Functions¶
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Extract the robot state EXCLUDING global position. |
- get_state_from_data(data: mujoco.MjData)¶
Extract the robot state EXCLUDING global position.
Processes quaternion to be consistent (scaled by sign of w).
- Parameters:
data (
mujoco.MjData) – Data variable of mujoco containing global x, y, z position, x, y, z quaternion orientation, and all hinge positions- Returns:
Array of quaternion orientation and hinge positions
- Return type:
np.array