Returns the environment observations.
(self, pipeline_state: base.State)
| 48 | ) |
| 49 | |
| 50 | def _get_obs(self, pipeline_state: base.State) -> jax.Array: |
| 51 | """Returns the environment observations.""" |
| 52 | position = pipeline_state.q |
| 53 | position = position.at[1].set(pipeline_state.x.pos[0, 2]) |
| 54 | velocity = jp.clip(pipeline_state.qd, -10, 10) |
| 55 | |
| 56 | return jp.concatenate((position, velocity)) |
| 57 | |
| 58 | def _get_reward(self, pipeline_state: base.State) -> jax.Array: |
| 59 | """Returns the environment reward.""" |