Method _get_obs

mbd/envs/humanoidtrack.py:84–85

(self, pipeline_state: base.State)

        )

    def _get_obs(self, pipeline_state: base.State) -> jax.Array:
        return jnp.concatenate([pipeline_state.q, pipeline_state.qd], axis=-1)

    def _get_reward(self, state) -> jax.Array:
        # x_feet = state.pipeline_state.x.pos[self.track_body_idx[-2:], 0]