(self, physics: 'mjcf.Physics')
return np.concatenate([o.flatten() for o in obs])
Observation of the reference bodies quats relative to walker.
Observation of the reference bodies quats relative to walker.
Observation of the reference bodies quats relative to walker .
def get_reference_rel_bodies_quats(self, physics: 'mjcf.Physics'):
    """Observation of the reference bodies quats relative to walker."""
    del physics  # physics unused by reference observations.

    time_steps = self._time_step + self._ref_steps
    obs = []
    for t in time_steps:
      for b in self._body_idxs:
        obs.append(
            tr.quat_diff(
                self._walker_features['body_quaternions'][b, :],
                self._clip_reference_features['body_quaternions'][t, b, :]))
    return np.concatenate([o.flatten() for o in obs])
def get_reference_rel_bodies_quats ( self , physics : 'mjcf.Physics' ) : del physics # physics unused by reference observations. time_steps = self . _time_step + self . _ref_steps obs = [ ] for t in time_steps : for b in self . _body_idxs : obs . append ( tr . quat_diff ( self . _walker_features [ 'body_quaternions' ] [ b , : ] , self . _clip_reference_features [ 'body_quaternions' ] [ t , b , : ] ) ) return np . concatenate ( [ o . flatten ( ) for o in obs ] )