(self, physics: 'mjcf.Physics')
return specs.BoundedArray(
        shape=shape,
        dtype=dtype,
        minimum=np.asarray(minimum, dtype=dtype),
        maximum=np.asarray(maximum, dtype=dtype),
        name='\t'.join(actuator.full_identifier  # pytype: disable=attribute-error
                       for actuator in self._walker.actuators))
Action spec of the walker only.
Action spec of the walker only.
Action spec of the walker only .
def action_spec(self, physics: 'mjcf.Physics'):
    """Action spec of the walker only."""
    ctrl = physics.bind(self._walker.actuators).ctrl  # pytype: disable=attribute-error
    shape = ctrl.shape
    dtype = ctrl.dtype
    minimum = []
    maximum = []
    for actuator in self._walker.actuators:
      if physics.bind(actuator).ctrllimited:  # pytype: disable=attribute-error
        ctrlrange = physics.bind(actuator).ctrlrange  # pytype: disable=attribute-error
        minimum.append(ctrlrange[0])
        maximum.append(ctrlrange[1])
      else:
        minimum.append(-float('inf'))
        maximum.append(float('inf'))
    return specs.BoundedArray(
        shape=shape,
        dtype=dtype,
        minimum=np.asarray(minimum, dtype=dtype),
        maximum=np.asarray(maximum, dtype=dtype),
        name='\t'.join(actuator.full_identifier  # pytype: disable=attribute-error
                       for actuator in self._walker.actuators))
def action_spec ( self , physics : 'mjcf.Physics' ) : ctrl = physics . bind ( self . _walker . actuators ) . ctrl # pytype: disable=attribute-error shape = ctrl . shape dtype = ctrl . dtype minimum = [ ] maximum = [ ] for actuator in self . _walker . actuators : if physics . bind ( actuator ) . ctrllimited : # pytype: disable=attribute-error ctrlrange = physics . bind ( actuator ) . ctrlrange # pytype: disable=attribute-error minimum . append ( ctrlrange [ 0 ] ) maximum . append ( ctrlrange [ 1 ] ) else : minimum . append ( - float ( 'inf' ) ) maximum . append ( float ( 'inf' ) ) return specs . BoundedArray ( shape = shape , dtype = dtype , minimum = np . asarray ( minimum , dtype = dtype ) , maximum = np . asarray ( maximum , dtype = dtype ) , name = '\t' . join ( actuator . full_identifier # pytype: disable=attribute-error for actuator in self . _walker . actuators ) )