(self, physics: 'mjcf.Physics')
return np.concatenate([o.flatten() for o in obs])
Reference position relative to current root position in root frame.
Reference position relative to current root position in root frame.
Reference position relative to current root position in root frame .
def get_reference_rel_root_pos_local(self, physics: 'mjcf.Physics'):
    """Reference position relative to current root position in root frame."""
    time_steps = self._time_step + self._ref_steps
    obs = self._walker.transform_vec_to_egocentric_frame(
        physics, (self._clip_reference_features['position'][time_steps] -
                  self._walker_features['position']))
    return np.concatenate([o.flatten() for o in obs])
def get_reference_rel_root_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 [ 'position' ] [ time_steps ] - self . _walker_features [ 'position' ] ) ) return np . concatenate ( [ o . flatten ( ) for o in obs ] )