(self)
return time
Get the time since the start of the reference motion.
Get the time since the start of the reference motion.
Get the time since the start of the reference motion .
def _get_motion_time(self):
    """Get the time since the start of the reference motion."""
    time = self._env.get_time_since_reset()

    # Needed to ensure that during deployment, the first timestep will be at
    # time = 0
    if self._env.env_step_counter == 0:
      self._episode_start_time_offset = -time

    time += self._motion_time_offset
    time += self._episode_start_time_offset

    if self._curr_episode_warmup:
      # if warmup is enabled, then apply a time offset to give the robot more
      # time to move to the reference motion
      time -= self._warmup_time

    return time
def _get_motion_time ( self ) : time = self . _env . get_time_since_reset ( ) # Needed to ensure that during deployment, the first timestep will be at # time = 0 if self . _env . env_step_counter == 0 : self . _episode_start_time_offset = - time time += self . _motion_time_offset time += self . _episode_start_time_offset if self . _curr_episode_warmup : # if warmup is enabled, then apply a time offset to give the robot more # time to move to the reference motion time -= self . _warmup_time return time