(self, physics: 'mjcf.Physics')
return np.concatenate([o.flatten() for o in obs])
Observation of the reference bodies relative to walker in local frame.
Observation of the reference bodies relative to walker in local frame.
Observation of the reference bodies relative to walker in local frame .
def get_reference_rel_bodies_pos_local(self, physics: 'mjcf.Physics'):
    """Observation of the reference bodies relative to walker in local frame."""
    time_steps = self._time_step + self._ref_steps
    obs = self._walker.transform_vec_to_egocentric_frame(
        physics, (self._clip_reference_features['body_positions'][time_steps] -
                  self._walker_features['body_positions'])[:, self._body_idxs])
    return np.concatenate([o.flatten() for o in obs])
def get_reference_rel_bodies_pos_local ( self , physics : 'mjcf.Physics' ) : time_steps = self . _time_step + self . _ref_steps obs = self . _walker . transform_vec_to_egocentric_frame ( physics , ( self . _clip_reference_features [ 'body_positions' ] [ time_steps ] - self . _walker_features [ 'body_positions' ] ) [ : , self . _body_idxs ] ) return np . concatenate ( [ o . flatten ( ) for o in obs ] )