habitat_sim.physics.VelocityControl class

Methods

def integrate_transform(self, dt: float, rigid_state: habitat_sim._ext.habitat_sim_bindings.RigidState) -> habitat_sim._ext.habitat_sim_bindings.RigidState

Integrate the velocity (with explicit Euler) over a discrete timestep (dt) starting at a given state and using configured parameters. Returns the new state after integration.

Special methods

def __init__(self, /) -> None

Properties

ang_vel_is_local: bool get set

Whether the angular velocity is considered to be in object local space or global space.

angular_velocity: magnum.Vector3 get set

The angular velocity (Omega) in units of radians per second.

controlling_ang_vel: bool get set

Whether or not angular velocity is integrated.

controlling_lin_vel: bool get set

Whether or not linear velocity is integrated.

lin_vel_is_local: bool get set

Whether the linear velocity is considered to be in object local space or global space.

linear_velocity: magnum.Vector3 get set

The linear velocity in meters/second.