Returns scaled rangefinder sensor readings.
(self)
| 201 | return self.named.data.sensordata[imu_sensors] |
| 202 | |
| 203 | def rangefinder(self): |
| 204 | """Returns scaled rangefinder sensor readings.""" |
| 205 | rf_sensors = self._get_sensor_names(enums.mjtSensor.mjSENS_RANGEFINDER) |
| 206 | rf_readings = self.named.data.sensordata[rf_sensors] |
| 207 | no_intersection = -1.0 |
| 208 | return np.where(rf_readings == no_intersection, 1.0, np.tanh(rf_readings)) |
| 209 | |
| 210 | def origin_distance(self): |
| 211 | """Returns the distance from the origin to the workspace.""" |
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