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unilab.envs.locomotion.common.commands.apply_heading_yaw_feedback¶

unilab.envs.locomotion.common.commands.apply_heading_yaw_feedback(commands, base_quat, heading_commands, *, stiffness, clip=2.0)[source]¶

In-place P-control on heading error → commands[:, 2] (yaw rate).

Parameters:

commands (ndarray)
base_quat (ndarray)
heading_commands (ndarray)
stiffness (float)
clip (float)

Return type:

None