函数：
| 名称 | 描述 |
|---|---|
root_rotmat_w_flat |
Rotation matrix of the root in world frame, flattened to a 9D vector. |
root_rotmat_w_flat(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Rotation matrix of the root in world frame, flattened to a 9D vector.