asset_link_velocity_in_root_asset_frame applies subtract_frame_transforms to both linear and angular velocities. That computes R.T @ (velocity_w - root_pos_w), incorrectly subtracting a position from a velocity.
For a stationary wrist and stationary base:
Base position: [1, 2, 3]
Base rotation: identity
World linear/angular velocities: [0, 0, 0] each
Expected output: [0, 0, 0, 0, 0, 0]
Actual output: [-1, -2, -3, -1, -2, -3]
For the fixed-base robot, both velocity vectors should only be rotated into the base frame, without subtracting root_pos_w.
This feeds the critic's end_effector_vel_lin_ang_b observation.
asset_link_velocity_in_root_asset_frameappliessubtract_frame_transformsto both linear and angular velocities. That computesR.T @ (velocity_w - root_pos_w), incorrectly subtracting a position from a velocity.For a stationary wrist and stationary base:
For the fixed-base robot, both velocity vectors should only be rotated into the base frame, without subtracting
root_pos_w.This feeds the critic's
end_effector_vel_lin_ang_bobservation.