why is projected_gravity calculated from quat_rotate instead of quat_rotate_inverse?
DeeDive opened this issue · 0 comments
DeeDive commented
Hello authors,
I notice the code here, the base_lin_vel and base_ang_vel is calculated from quat_rotate_inverse; but the projected gravity is from quat_rotate;
base_ang_vel = quat_rotate_inverse(torso_rotation, ang_velocity) * self.ang_vel_scale projected_gravity = quat_rotate(torso_rotation, self.gravity_vec)
While in similar implementations like legged_gym,
self.base_ang_vel[:] = quat_rotate_inverse(self.base_quat, self.root_states[:, 10:13]) self.projected_gravity[:] = quat_rotate_inverse(self.base_quat, self.gravity_vec)
What do you think?