def compute_forces(self, commands):
force = self.max_force * commands[0]
return hat_map_2d(force)
def compute_forces(self, commands):
force = self.max_force * commands[0]
return hat_map_2d(force)
def compute_velocities(self, commands):
omega = self.max_velocity * commands[0]
return hat_map_2d(omega)
def compute_velocities(self, commands):
omega = self.max_velocity * commands[0]
return hat_map_2d(omega)
