Aligning Angular Velocity/Euler Rates

[adamhall]

Starting this as more of a reminder that when we pull the system ID model, which has the built-in attitude controller, we need to align out conventions for the rotational velocity representation. This is what I have gathered so far (and think is correct).

PyBullet:

• getBaseVelocity --> (translation velocity of body in interial frame, angular velocity of body in inertial frame)
• getBasePositionAndOrientation --> (position in inertial frame, quaternion)
• getEulerFromQuaternion --> ZYX Intrinsic (or XYZ Extreinsic) Euler Angles as roll, pitch, yaw.

3D Quadrotor (with thrust input):

• Assumes ZYX Intrinsic rotation matrix using SD Format representation to match URDF files. Controls Euler angles, which are converted to ang_vel before passing to pybullet
  https://github.com/middleyuan/safe-control-gym/blob/9dc45a47ced86ca3bce86f6fb35582838c278cee/safe_control_gym/math_and_models/transformations.py#L173C1-L187C13

Attitude Controller:

• Assumes ZYX Intrinsic euler angles and rates.
• (What is passed to pybullet with this formulation?)

Question: What do we put in the YAML? RPY rates or Ang vel?