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syntax = "proto3";
package robotics.reinforcement_learning.minitaur.envs;
import "timestamp.proto";
import "vector.proto";
message MinitaurEpisode {
// The state-action pair at each step of the log.
repeated MinitaurStateAction state_action = 1;
}
message MinitaurMotorState {
// The current angle of the motor.
double angle = 1;
// The current velocity of the motor.
double velocity = 2;
// The current torque exerted at this motor.
double torque = 3;
// The action directed to this motor. The action is the desired motor angle.
double action = 4;
}
message MinitaurStateAction {
// 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.
bool info_valid = 6;
// The time stamp of this step. It is computed since the reset of the
// environment.
robotics.messages.Timestamp time = 1;
// The position of the base of the minitaur.
robotics.messages.Vector3d base_position = 2;
// The orientation of the base of the minitaur. It is represented as (roll,
// pitch, yaw).
robotics.messages.Vector3d base_orientation = 3;
// The angular velocity of the base of the minitaur. It is the time derivative
// of (roll, pitch, yaw).
robotics.messages.Vector3d base_angular_vel = 4;
// The motor states (angle, velocity, torque, action) of eight motors.
repeated MinitaurMotorState motor_states = 5;
}
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