Returns the common observations for the Stand task.
(self, physics)
| 413 | physics.named.data.qvel['ball_root'][:3] = velocity |
| 414 | |
| 415 | def get_observation_components(self, physics): |
| 416 | """Returns the common observations for the Stand task.""" |
| 417 | obs = super().get_observation_components(physics) |
| 418 | obs['ball_state'] = physics.ball_in_head_frame() |
| 419 | obs['target_position'] = physics.target_in_head_frame() |
| 420 | return obs |
| 421 | |
| 422 | def get_reward_factors(self, physics): |
| 423 | """Returns a reward to the agent.""" |
nothing calls this directly
no test coverage detected