(self, physics: 'mjcf.Physics')
return diff[:, self._walker.mocap_to_observable_joint_order].flatten()
Observation of the reference joints relative to walker.
Observation of the reference joints relative to walker.
Observation of the reference joints relative to walker .
def get_reference_rel_joints(self, physics: 'mjcf.Physics'):
    """Observation of the reference joints relative to walker."""
    del physics  # physics unused by reference observations.
    time_steps = self._time_step + self._ref_steps
    diff = (self._clip_reference_features['joints'][time_steps] -
            self._walker_joints)
    return diff[:, self._walker.mocap_to_observable_joint_order].flatten()
def get_reference_rel_joints ( self , physics : 'mjcf.Physics' ) : del physics # physics unused by reference observations. time_steps = self . _time_step + self . _ref_steps diff = ( self . _clip_reference_features [ 'joints' ] [ time_steps ] - self . _walker_joints ) return diff [ : , self . _walker . mocap_to_observable_joint_order ] . flatten ( )