def getObservation(self):
        """ a filtered mapping to getSample of the underlying environment. """
        sensors = self.env.getSensors()
        sensSort = []
        #Angle and angleVelocity
        for i in range(32):
            sensSort.append(sensors[i])
        #Angles wanted (old action)
        for i in self.oldAction:
            sensSort.append(i)
        #Hand position
        for i in range(3):
            sensSort.append((sensors[38 + i] + sensors[41 + i]) / 2)
        #Hand orientation (Hack - make correkt!!!!)
        sensSort.append((sensors[38] - sensors[41]) / 2 - sensors[35]) #pitch
        sensSort.append((sensors[38 + 1] - sensors[41 + 1]) / 2 - sensors[35 + 1]) #yaw
        sensSort.append((sensors[38 + 1] - sensors[41 + 1])) #roll
        #Target position
        for i in range(3):
            sensSort.append(self.target[i])
        #Target orientation
        for i in range(3):
            sensSort.append(0.0)
        #Object type (start with random)
        sensSort.append(float(random.randint(-1, 1))) #roll

        #normalisation
        if self.sensor_limits:
            sensors = self.normalize(sensors)
        sens = []
        for i in range(32):
            sens.append(sensors[i])
        for i in range(29):
            sens.append(sensSort[i + 32])

        #calc dist to target
        self.dist = array([(sens[54] - sens[48]), (sens[55] - sens[49]), (sens[56] - sens[50]), sens[51], sens[52], sens[53], sens[15]])
        return sens
dataset/ETHPy150Open pybrain/pybrain/pybrain/rl/environments/ode/tasks/ccrl.py/CCRLPointTask.getObservation/original