__init__()

def __init__	(		self,
		Optional[np.ndarray]	angular_velocity_base_in_base = None,
		Optional[np.ndarray]	joint_configuration = None,
		Optional[np.ndarray]	joint_velocity = None,
		Optional[np.ndarray]	linear_velocity_base_to_world_in_world = None,
		Optional[ScipyRotation]	orientation_base_in_world = None,
		Optional[np.ndarray]	position_base_in_world = None,
		Optional[RobotStateRandomization]	randomization = None
	)

Initialize a new state.

Parameters

[in]	angular_velocity_base_in_base	Body angular velocity of the floating-base link.
[in]	joint_configuration	Joint configuration vector (not including the floating-base joint).
[in]	joint_velocity	Joint velocity vector (not including the floating-base joint).
[in]	linear_velocity_base_to_world_in_world	Linear velocity of the floating-base link in the world frame.
[in]	orientation_base_in_world	Rotation from the floating-base frame to the world frame.
[in]	position_base_in_world	Position of the floating-base frame in the world frame.
[in]	randomization	Optional state randomization distribution.