(self, env)
See base class.
See base class.
See base class .
def on_step(self, env):
    """See base class."""
    self._last_base_position = self._current_base_position
    self._current_base_position = np.array(self._robot.GetBasePosition())
    self._last_yaw = self._current_yaw
    self._current_yaw = self._robot.GetBaseRollPitchYaw()[2]
def on_step ( self , env ) : self . _last_base_position = self . _current_base_position self . _current_base_position = np . array ( self . _robot . GetBasePosition ( ) ) self . _last_yaw = self . _current_yaw self . _current_yaw = self . _robot . GetBaseRollPitchYaw ( ) [ 2 ]