package robotics.reinforcement_learning.minitaur.envs

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• repeated MinitaurStateAction state_action = 1

  The state-action pair at each step of the log.

Used in: MinitaurStateAction

• double angle = 1

  The current angle of the motor.

• double velocity = 2

  The current velocity of the motor.

• double torque = 3

  The current torque exerted at this motor.

• double action = 4

  The action directed to this motor. The action is the desired motor angle.

Used in: MinitaurEpisode

• bool info_valid = 6

  Whether the state/action information is valid. It is always true if the proto is from simulation. It might be false when communication error happens on minitaur hardware.

• optional google.protobuf.Timestamp time = 1

  The time stamp of this step. It is computed since the reset of the environment.

• optional messages.Vector3d base_position = 2

  The position of the base of the minitaur.

• optional messages.Vector3d base_orientation = 3

  The orientation of the base of the minitaur. It is represented as (roll, pitch, yaw).

• optional messages.Vector3d base_angular_vel = 4

  The angular velocity of the base of the minitaur. It is the time derivative of (roll, pitch, yaw).

• repeated MinitaurMotorState motor_states = 5

  The motor states (angle, velocity, torque, action) of eight motors.