(self)
Receive the observation from sensors.

    This function is called once per step. The observations are only updated
    when this function is called.
Receive the observation from sensors.
Receive the observation from sensors .
def ReceiveObservation(self):
    """Receive the observation from sensors.

    This function is called once per step. The observations are only updated
    when this function is called.
    """
    self._joint_states = self._pybullet_client.getJointStates(
        self.quadruped, self._motor_id_list)
    self._base_position, orientation = (
        self._pybullet_client.getBasePositionAndOrientation(self.quadruped))
    # Computes the relative orientation relative to the robot's
    # initial_orientation.
    _, self._base_orientation = self._pybullet_client.multiplyTransforms(
        positionA=[0, 0, 0],
        orientationA=orientation,
        positionB=[0, 0, 0],
        orientationB=self._init_orientation_inv)
    self._observation_history.appendleft(self.GetTrueObservation())
    self._control_observation = self._GetControlObservation()
    self.last_state_time = self._state_action_counter * self.time_step
def ReceiveObservation ( self ) : self . _joint_states = self . _pybullet_client . getJointStates ( self . quadruped , self . _motor_id_list ) self . _base_position , orientation = ( self . _pybullet_client . getBasePositionAndOrientation ( self . quadruped ) ) # Computes the relative orientation relative to the robot's # initial_orientation. _ , self . _base_orientation = self . _pybullet_client . multiplyTransforms ( positionA = [ 0 , 0 , 0 ] , orientationA = orientation , positionB = [ 0 , 0 , 0 ] , orientationB = self . _init_orientation_inv ) self . _observation_history . appendleft ( self . GetTrueObservation ( ) ) self . _control_observation = self . _GetControlObservation ( ) self . last_state_time = self . _state_action_counter * self . time_step