(self, physics: 'mjcf.Physics')
return (self._clip_reference_features['body_positions'][time_steps] -
            self._walker_features['body_positions'])[:,
                                                     self._body_idxs].flatten()
Observation of the reference bodies relative to walker.
Observation of the reference bodies relative to walker.
Observation of the reference bodies relative to walker .
def get_reference_rel_bodies_pos_global(self, physics: 'mjcf.Physics'):
    """Observation of the reference bodies relative to walker."""
    del physics  # physics unused by reference observations.

    time_steps = self._time_step + self._ref_steps
    return (self._clip_reference_features['body_positions'][time_steps] -
            self._walker_features['body_positions'])[:,
                                                     self._body_idxs].flatten()
def get_reference_rel_bodies_pos_global ( self , physics : 'mjcf.Physics' ) : del physics # physics unused by reference observations. time_steps = self . _time_step + self . _ref_steps return ( self . _clip_reference_features [ 'body_positions' ] [ time_steps ] - self . _walker_features [ 'body_positions' ] ) [ : , self . _body_idxs ] . flatten ( )