Defining States and actions

[chngdickson]

Hello! I love what u done. I was hoping you could share some of your insights with me.

I am struggling to mimic what u done in webots.
The bullet point below shows what I understand from reading your code.
Correct me if I am wrong.

States

• (roll, pitch)
• (roll, pitch) Rate
• Motor angles on each joint

Actions

• motor torques.

Also, on the replay buffer, do we send in a stack of observations to mimic motion?
state = [obs current_timestep, obs T-1, obs T-2]