(self, physics: 'mjcf.Physics')
return np.concatenate([o.flatten() for o in obs])
Root quaternion of reference relative to current root quat.
Root quaternion of reference relative to current root quat.
Root quaternion of reference relative to current root quat .
def get_reference_rel_root_quat(self, physics: 'mjcf.Physics'):
    """Root quaternion of reference relative to current root quat."""
    del physics  # physics unused by reference observations.

    time_steps = self._time_step + self._ref_steps
    obs = []
    for t in time_steps:
      obs.append(
          tr.quat_diff(self._walker_features['quaternion'],
                       self._clip_reference_features['quaternion'][t, :]))
    return np.concatenate([o.flatten() for o in obs])
def get_reference_rel_root_quat ( 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 : obs . append ( tr . quat_diff ( self . _walker_features [ 'quaternion' ] , self . _clip_reference_features [ 'quaternion' ] [ t , : ] ) ) return np . concatenate ( [ o . flatten ( ) for o in obs ] )