The meaning of parameters

[interestingzhuo]

what is the meaning of “_dof_body_ids”， “_dof_offsets”，“_dof_obs_size”， “_num_actions”， “_num_obs”

[3-body]

1. self._dof_body_ids = [1, 2, 3, 4, 5, 7, 8, 11, 12, 13, 14, 15, 16] # the index of links with joints
2. self._dof_offsets = [0, 3, 6, 9, 10, 13, 16, 17, 20, 21, 24, 27, 28, 31] # corresponding dofs of links
3. self._dof_obs_size = 78 # rotation of each link using a tangent-normal encoding (6D)
4. self._num_actions = 31 # corresponding dofs of links
5. self._num_obs = 1 + 17 * (3 + 6 + 3 + 3) - 3 # total links * ( Position + Linear velocity + Rotation + Angular velocity)