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
