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Fix angular velocity calculation for proprioception dictionary for TwoWheelRobot #257

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Fix angular velocity calculation for proprioception dictionary for TwoWheelRobot #257

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5f130a0
Update two_wheel_robot.py
sujaygarlanka Jan 14, 2023
4f0e8a0
Update two_wheel_robot.py
sujaygarlanka Jan 14, 2023
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2 changes: 1 addition & 1 deletion igibson/robots/two_wheel_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ def _get_proprioception_dict(self):

# Compute linear and angular velocities
lin_vel = (l_vel + r_vel) / 2.0 * self.wheel_radius
ang_vel = (r_vel - l_vel) / self.wheel_axle_length
ang_vel = (r_vel - l_vel) * self.wheel_radius / self.wheel_axle_length

# Add info
dic["dd_base_lin_vel"] = np.array([lin_vel])
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