(self)
return observable.Generic(relative_pos_in_egocentric_frame)
Position of end effectors relative to torso, in the egocentric frame.
Position of end effectors relative to torso, in the egocentric frame.
Position of end effectors relative to torso in the egocentric frame .
def end_effectors_pos(self):
    """Position of end effectors relative to torso, in the egocentric frame."""
    def relative_pos_in_egocentric_frame(physics):
      end_effector = physics.bind(self._entity.end_effectors).xpos
      torso = physics.bind(self._entity.root_body).xpos
      xmat = np.reshape(physics.bind(self._entity.root_body).xmat, (3, 3))
      return np.reshape(np.dot(end_effector - torso, xmat), -1)
    return observable.Generic(relative_pos_in_egocentric_frame)
def end_effectors_pos ( self ) : def relative_pos_in_egocentric_frame ( physics ) : end_effector = physics . bind ( self . _entity . end_effectors ) . xpos torso = physics . bind ( self . _entity . root_body ) . xpos xmat = np . reshape ( physics . bind ( self . _entity . root_body ) . xmat , ( 3 , 3 ) ) return np . reshape ( np . dot ( end_effector - torso , xmat ) , - 1 ) return observable . Generic ( relative_pos_in_egocentric_frame )