State helpers for sim2real runtimes.
Functions:
| Name | Description |
|---|---|
build_internal_state |
Build the dict-based internal state used by sim2real runtimes. |
build_internal_state(position_world: ndarray, quaternion_xyzw: ndarray, linear_velocity_body: ndarray, angular_velocity_body: ndarray) -> ControllerState
Build the dict-based internal state used by sim2real runtimes.
vel is world-frame (body-frame rotated by current attitude);
vel_b is body-frame for differential-drive controllers or other consumers
that explicitly operate in body frame.