(self, current_time=None, input_action=None)
return minitaur_pose_utils.leg_pose_to_motor_angles(self._pose +
                                                        self._action_scale *
                                                        np.array(input_action))
Computes the trajectory according to input time and action.
    Args:
      current_time: The time in gym env since reset.
      input_action: A numpy array. The input leg pose from a NN controller.
    Returns:
      A numpy array. The desired motor angles.
Computes the trajectory according to input time and action.
    Args:
      current_time: The time in gym env since reset.
      input_action: A numpy array. The input leg pose from a NN controller.
    Returns:
      A numpy array. The desired motor angles.
Computes the trajectory according to input time and action . Args : current_time : The time in gym env since reset . input_action : A numpy array . The input leg pose from a NN controller . Returns : A numpy array . The desired motor angles .
def get_action(self, current_time=None, input_action=None):
    """Computes the trajectory according to input time and action.
    Args:
      current_time: The time in gym env since reset.
      input_action: A numpy array. The input leg pose from a NN controller.
    Returns:
      A numpy array. The desired motor angles.
    """
    del current_time
    return minitaur_pose_utils.leg_pose_to_motor_angles(self._pose +
                                                        self._action_scale *
                                                        np.array(input_action))
def get_action ( self , current_time = None , input_action = None ) : del current_time return minitaur_pose_utils . leg_pose_to_motor_angles ( self . _pose + self . _action_scale * np . array ( input_action ) )