(
            self,
            pose,
            action_limit=0.5,
    )
Initializes the controller.
      Args:
        action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
Initializes the controller.
      Args:
        action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
Initializes the controller . Args : action_limit : a tuple of [ limit_abduction limit_hip limit_knee ]
def __init__(
            self,
            pose,
            action_limit=0.5,
    ):
        """Initializes the controller.
      Args:
        action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
      """
        self._pose = np.array(
            attr.astuple(
                laikago_pose_utils.LaikagoPose(abduction_angle_0=pose[0],
                                               hip_angle_0=pose[1],
                                               knee_angle_0=pose[2],
                                               abduction_angle_1=pose[3],
                                               hip_angle_1=pose[4],
                                               knee_angle_1=pose[5],
                                               abduction_angle_2=pose[6],
                                               hip_angle_2=pose[7],
                                               knee_angle_2=pose[8],
                                               abduction_angle_3=pose[9],
                                               hip_angle_3=pose[10],
                                               knee_angle_3=pose[11])))
        action_high = np.array([action_limit] * 12)
        self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
def __init__ ( self , pose , action_limit = 0.5 , ) : self . _pose = np . array ( attr . astuple ( laikago_pose_utils . LaikagoPose ( abduction_angle_0 = pose [ 0 ] , hip_angle_0 = pose [ 1 ] , knee_angle_0 = pose [ 2 ] , abduction_angle_1 = pose [ 3 ] , hip_angle_1 = pose [ 4 ] , knee_angle_1 = pose [ 5 ] , abduction_angle_2 = pose [ 6 ] , hip_angle_2 = pose [ 7 ] , knee_angle_2 = pose [ 8 ] , abduction_angle_3 = pose [ 9 ] , hip_angle_3 = pose [ 10 ] , knee_angle_3 = pose [ 11 ] ) ) ) action_high = np . array ( [ action_limit ] * 12 ) self . action_space = spaces . Box ( - action_high , action_high , dtype = np . float32 )