(self, motor_commands)
return motor_commands
Clips motor commands.

    Args:
      motor_commands: np.array. Can be motor angles, torques, hybrid commands,
        or motor pwms (for Minitaur only).

    Returns:
      Clipped motor commands.
Clips motor commands.
Clips motor commands .
def _ClipMotorCommands(self, motor_commands):
    """Clips motor commands.

    Args:
      motor_commands: np.array. Can be motor angles, torques, hybrid commands,
        or motor pwms (for Minitaur only).

    Returns:
      Clipped motor commands.
    """

    # clamp the motor command by the joint limit, in case weired things happens
    max_angle_change = MAX_MOTOR_ANGLE_CHANGE_PER_STEP
    current_motor_angles = self.GetMotorAngles()
    motor_commands = np.clip(motor_commands,
                             current_motor_angles - max_angle_change,
                             current_motor_angles + max_angle_change)
    return motor_commands
def _ClipMotorCommands ( self , motor_commands ) : # clamp the motor command by the joint limit, in case weired things happens max_angle_change = MAX_MOTOR_ANGLE_CHANGE_PER_STEP current_motor_angles = self . GetMotorAngles ( ) motor_commands = np . clip ( motor_commands , current_motor_angles - max_angle_change , current_motor_angles + max_angle_change ) return motor_commands