42 lines
1.4 KiB
Protocol Buffer
42 lines
1.4 KiB
Protocol Buffer
syntax = "proto3";
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package robotics.reinforcement_learning.minitaur.envs;
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import "timestamp.proto";
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import "vector.proto";
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message MinitaurEpisode {
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// The state-action pair at each step of the log.
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repeated MinitaurStateAction state_action = 1;
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}
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message MinitaurMotorState {
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// The current angle of the motor.
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double angle = 1;
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// The current velocity of the motor.
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double velocity = 2;
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// The current torque exerted at this motor.
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double torque = 3;
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// The action directed to this motor. The action is the desired motor angle.
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double action = 4;
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}
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message MinitaurStateAction {
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// Whether the state/action information is valid. It is always true if the
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// proto is from simulation. It might be false when communication error
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// happens on minitaur hardware.
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bool info_valid = 6;
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// The time stamp of this step. It is computed since the reset of the
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// environment.
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google.protobuf.Timestamp time = 1;
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// The position of the base of the minitaur.
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robotics.messages.Vector3d base_position = 2;
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// The orientation of the base of the minitaur. It is represented as (roll,
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// pitch, yaw).
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robotics.messages.Vector3d base_orientation = 3;
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// The angular velocity of the base of the minitaur. It is the time derivative
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// of (roll, pitch, yaw).
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robotics.messages.Vector3d base_angular_vel = 4;
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// The motor states (angle, velocity, torque, action) of eight motors.
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repeated MinitaurMotorState motor_states = 5;
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}
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