Method _get_obs

mbd/envs/pushT.py:48–49

(self, pipeline_state: pipeline.State)

        )

    def _get_obs(self, pipeline_state: pipeline.State) -> jnp.ndarray:
        return jnp.concat([pipeline_state.q, pipeline_state.qd], axis=-1)

    def _get_reward(self, pipeline_state: pipeline.State) -> jnp.ndarray:
        r_goal = pipeline_state.q[5:7]