def get_command(self, sensor_data):
    self._robot.update_system(sensor_data['base_com_pos'], sensor_data['base_com_quat'], sensor_data['base_com_lin_vel'], sensor_data['base_com_ang_vel'], sensor_data['base_joint_pos'], sensor_data['base_joint_quat'], sensor_data['base_joint_lin_vel'], sensor_data['base_joint_ang_vel'], sensor_data['joint_pos'], sensor_data['joint_vel'])
    jtrq_cmd = self._compute_osc_command()
    jpos_cmd = np.zeros_like(jtrq_cmd)
    jvel_cmd = np.zeros_like(jtrq_cmd)
    command = self._robot.create_cmd_ordered_dict(jpos_cmd, jvel_cmd, jtrq_cmd)
    self._count += 1
    self._running_time += ManipulatorConfig.DT
    return command
def get_command(self, sensor_data):
    self._robot.update_system(sensor_data['base_com_pos'], sensor_data['base_com_quat'], sensor_data['base_com_lin_vel'], sensor_data['base_com_ang_vel'], sensor_data['base_joint_pos'], sensor_data['base_joint_quat'], sensor_data['base_joint_lin_vel'], sensor_data['base_joint_ang_vel'], sensor_data['joint_pos'], sensor_data['joint_vel'])
    jtrq_cmd = self._compute_osc_command()
    jpos_cmd = np.zeros_like(jtrq_cmd)
    jvel_cmd = np.zeros_like(jtrq_cmd)
    command = self._robot.create_cmd_ordered_dict(jpos_cmd, jvel_cmd, jtrq_cmd)
    self._count += 1
    self._running_time += ManipulatorConfig.DT
    return command