(self)
return np.hstack((self.named.data.qpos[self._hinge_names],
                      self.named.data.qvel[self._hinge_names],
                      self.data.act))
Returns the state without global orientation or position.
Returns the state without global orientation or position.
Returns the state without global orientation or position .
def egocentric_state(self):
    """Returns the state without global orientation or position."""
    if not self._hinge_names:
      [hinge_ids] = np.nonzero(self.model.jnt_type ==
                               enums.mjtJoint.mjJNT_HINGE)
      self._hinge_names = [self.model.id2name(j_id, 'joint')
                           for j_id in hinge_ids]
    return np.hstack((self.named.data.qpos[self._hinge_names],
                      self.named.data.qvel[self._hinge_names],
                      self.data.act))
def egocentric_state ( self ) : if not self . _hinge_names : [ hinge_ids ] = np . nonzero ( self . model . jnt_type == enums . mjtJoint . mjJNT_HINGE ) self . _hinge_names = [ self . model . id2name ( j_id , 'joint' ) for j_id in hinge_ids ] return np . hstack ( ( self . named . data . qpos [ self . _hinge_names ] , self . named . data . qvel [ self . _hinge_names ] , self . data . act ) )