Possible bug when passing object linear velocity state to critic

[Easternspork]

Hi,

In this line, I think object linear velocity is not correctly rotated into the body frame

holosoma/src/holosoma/holosoma/managers/observation/terms/wbt.py

Line 215 in c5c836c

vel_b, _ = subtract_frame_transforms(

As it stands, I think it is passing R^-1(linear velocity - reference position) but it should just be R^-1(linear velocity). (ie. I believe it is incorrect to subtract position from a velocity)

I may be misunderstanding though.

Thanks