(self, physics)
return obs
Returns the observations for the Stand task.
Returns the observations for the Stand task.
Returns the observations for the Stand task .
def get_observation_components(self, physics):
    """Returns the observations for the Stand task."""
    obs = collections.OrderedDict()
    obs['joint_angles'] = physics.joint_angles()
    obs['joint_velocites'] = physics.joint_velocities()
    obs['torso_pelvis_height'] = physics.torso_pelvis_height()
    obs['z_projection'] = physics.z_projection().flatten()
    obs['torso_com_velocity'] = physics.torso_com_velocity()
    obs['inertial_sensors'] = physics.inertial_sensors()
    obs['foot_forces'] = physics.foot_forces()
    obs['touch_sensors'] = physics.touch_sensors()
    obs['actuator_state'] = physics.data.act.copy()
    return obs
def get_observation_components ( self , physics ) : obs = collections . OrderedDict ( ) obs [ 'joint_angles' ] = physics . joint_angles ( ) obs [ 'joint_velocites' ] = physics . joint_velocities ( ) obs [ 'torso_pelvis_height' ] = physics . torso_pelvis_height ( ) obs [ 'z_projection' ] = physics . z_projection ( ) . flatten ( ) obs [ 'torso_com_velocity' ] = physics . torso_com_velocity ( ) obs [ 'inertial_sensors' ] = physics . inertial_sensors ( ) obs [ 'foot_forces' ] = physics . foot_forces ( ) obs [ 'touch_sensors' ] = physics . touch_sensors ( ) obs [ 'actuator_state' ] = physics . data . act . copy ( ) return obs