mo.velocity could also be used too calculate angular velocity by having an additional @attribute that when set to 1 will make the abstraction compute the velocity using /rot_rpy instead of /pos. This way the abstraction can also be used with IMUs. I have made a temporary solution to achieve the same result with mo.imu.velocity.
mo.velocitycould also be used too calculate angular velocity by having an additional @attribute that when set to 1 will make the abstraction compute the velocity using/rot_rpyinstead of/pos. This way the abstraction can also be used with IMUs. I have made a temporary solution to achieve the same result withmo.imu.velocity.