def getObservation(self): sensors = EpisodicTask.getObservation(self) # Get the current joint angles [rad] # The joint angle values will be between -pi and pi in radians self.joint_angles = np.asarray(self.env.getSensorByName('JointSensor')) # Get the current joint velocities [rad/s] self.joint_velocities = np.asarray(self.env.getSensorByName('JointVelocitySensor')) # Get the current tooltip position (x, y, z) [m] self.tooltip_position = np.asarray(self.env.getSensorByName('tooltipPos')) return sensors
def getObservation(self): sensors = EpisodicTask.getObservation(self) # Get the current joint angles [rad] # The joint angle values will be between -pi and pi in radians self.joint_angles = np.asarray(self.env.getSensorByName('JointSensor')) # Get the current joint velocities [rad/s] self.joint_velocities = np.asarray( self.env.getSensorByName('JointVelocitySensor')) # Get the current tooltip position (x, y, z) [m] self.tooltip_position = np.asarray( self.env.getSensorByName('tooltipPos')) return sensors
def getObservation(self): self.state = EpisodicTask.getObservation(self) return self.state