(self)
return low, high
Get bounds for target observations.

    Returns:
      low: Array containing the minimum value for each target observation
        features.
      high: Array containing the maximum value for each target observation
        features.
Get bounds for target observations.
Get bounds for target observations .
def get_target_obs_bounds(self):
    """Get bounds for target observations.

    Returns:
      low: Array containing the minimum value for each target observation
        features.
      high: Array containing the maximum value for each target observation
        features.
    """
    pos_bound = 2 * np.ones(motion_data.MotionData.POS_SIZE)
    rot_bound = 1 * np.ones(motion_data.MotionData.ROT_SIZE)

    pose_size = self.get_pose_size()
    low = np.inf * np.ones(pose_size)
    high = -np.inf * np.ones(pose_size)
    for m in self._ref_motions:
      curr_frames = m.get_frames()
      curr_low = np.min(curr_frames, axis=0)
      curr_high = np.max(curr_frames, axis=0)
      low = np.minimum(low, curr_low)
      high = np.maximum(high, curr_high)

    motion = self.get_active_motion()
    motion.set_frame_root_pos(-pos_bound, low)
    motion.set_frame_root_pos(pos_bound, high)
    motion.set_frame_root_rot(-rot_bound, low)
    motion.set_frame_root_rot(rot_bound, high)

    num_tar_frames = self.get_num_tar_frames()
    low = np.concatenate([low] * num_tar_frames, axis=-1)
    high = np.concatenate([high] * num_tar_frames, axis=-1)

    return low, high
def get_target_obs_bounds ( self ) : pos_bound = 2 * np . ones ( motion_data . MotionData . POS_SIZE ) rot_bound = 1 * np . ones ( motion_data . MotionData . ROT_SIZE ) pose_size = self . get_pose_size ( ) low = np . inf * np . ones ( pose_size ) high = - np . inf * np . ones ( pose_size ) for m in self . _ref_motions : curr_frames = m . get_frames ( ) curr_low = np . min ( curr_frames , axis = 0 ) curr_high = np . max ( curr_frames , axis = 0 ) low = np . minimum ( low , curr_low ) high = np . maximum ( high , curr_high ) motion = self . get_active_motion ( ) motion . set_frame_root_pos ( - pos_bound , low ) motion . set_frame_root_pos ( pos_bound , high ) motion . set_frame_root_rot ( - rot_bound , low ) motion . set_frame_root_rot ( rot_bound , high ) num_tar_frames = self . get_num_tar_frames ( ) low = np . concatenate ( [ low ] * num_tar_frames , axis = - 1 ) high = np . concatenate ( [ high ] * num_tar_frames , axis = - 1 ) return low , high