(self,
               num_motors: int,
               noisy_reading: bool = True,
               observe_sine_cosine: bool = False,
               lower_bound: _FLOAT_OR_ARRAY = -np.pi,
               upper_bound: _FLOAT_OR_ARRAY = np.pi,
               name: typing.Text = "MinitaurLegPose",
               dtype: typing.Type[typing.Any] = np.float64)
Constructs MinitaurLegPoseSensor.

    Args:
      num_motors: the number of motors in the robot
      noisy_reading: whether values are true observations
      observe_sine_cosine: whether to convert readings to sine/cosine values for
        continuity
      lower_bound: the lower bound of the motor angle
      upper_bound: the upper bound of the motor angle
      name: the name of the sensor
      dtype: data type of sensor value
Constructs MinitaurLegPoseSensor.
Constructs MinitaurLegPoseSensor .
def __init__(self,
               num_motors: int,
               noisy_reading: bool = True,
               observe_sine_cosine: bool = False,
               lower_bound: _FLOAT_OR_ARRAY = -np.pi,
               upper_bound: _FLOAT_OR_ARRAY = np.pi,
               name: typing.Text = "MinitaurLegPose",
               dtype: typing.Type[typing.Any] = np.float64) -> None:
    """Constructs MinitaurLegPoseSensor.

    Args:
      num_motors: the number of motors in the robot
      noisy_reading: whether values are true observations
      observe_sine_cosine: whether to convert readings to sine/cosine values for
        continuity
      lower_bound: the lower bound of the motor angle
      upper_bound: the upper bound of the motor angle
      name: the name of the sensor
      dtype: data type of sensor value
    """
    self._num_motors = num_motors
    self._noisy_reading = noisy_reading
    self._observe_sine_cosine = observe_sine_cosine

    if observe_sine_cosine:
      super(MinitaurLegPoseSensor, self).__init__(
          name=name,
          shape=(self._num_motors * 2,),
          lower_bound=-np.ones(self._num_motors * 2),
          upper_bound=np.ones(self._num_motors * 2),
          dtype=dtype)
    else:
      super(MinitaurLegPoseSensor, self).__init__(
          name=name,
          shape=(self._num_motors,),
          lower_bound=lower_bound,
          upper_bound=upper_bound,
          dtype=dtype)
def __init__ ( self , num_motors : int , noisy_reading : bool = True , observe_sine_cosine : bool = False , lower_bound : _FLOAT_OR_ARRAY = - np . pi , upper_bound : _FLOAT_OR_ARRAY = np . pi , name : typing . Text = "MinitaurLegPose" , dtype : typing . Type [ typing . Any ] = np . float64 ) -> None : self . _num_motors = num_motors self . _noisy_reading = noisy_reading self . _observe_sine_cosine = observe_sine_cosine if observe_sine_cosine : super ( MinitaurLegPoseSensor , self ) . __init__ ( name = name , shape = ( self . _num_motors * 2 , ) , lower_bound = - np . ones ( self . _num_motors * 2 ) , upper_bound = np . ones ( self . _num_motors * 2 ) , dtype = dtype ) else : super ( MinitaurLegPoseSensor , self ) . __init__ ( name = name , shape = ( self . _num_motors , ) , lower_bound = lower_bound , upper_bound = upper_bound , dtype = dtype )