Returns the observations for the Stand task.
(self, physics)
| 294 | physics.data.act[actuator_id] = self.random.uniform(*ctrlrange) |
| 295 | |
| 296 | def get_observation_components(self, physics): |
| 297 | """Returns the observations for the Stand task.""" |
| 298 | obs = collections.OrderedDict() |
| 299 | obs['joint_angles'] = physics.joint_angles() |
| 300 | obs['joint_velocites'] = physics.joint_velocities() |
| 301 | obs['torso_pelvis_height'] = physics.torso_pelvis_height() |
| 302 | obs['z_projection'] = physics.z_projection().flatten() |
| 303 | obs['torso_com_velocity'] = physics.torso_com_velocity() |
| 304 | obs['inertial_sensors'] = physics.inertial_sensors() |
| 305 | obs['foot_forces'] = physics.foot_forces() |
| 306 | obs['touch_sensors'] = physics.touch_sensors() |
| 307 | obs['actuator_state'] = physics.data.act.copy() |
| 308 | return obs |
| 309 | |
| 310 | def get_observation(self, physics): |
| 311 | """Returns the observation, possibly adding reward factors.""" |
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