osim-rl-obsdict2list

## Values in the observation vector
# 'vtgt_field': vtgt vectors in body frame (2*11*11 = 242 values)
# 'pelvis': height, pitch, roll, 6 vel (9 values)
# for each 'r_leg' and 'l_leg' (*2)
#   'ground_reaction_forces' (3 values)
#   'joint' (4 values)
#   'd_joint' (4 values)
#   for each of the eleven muscles (*11)
#       normalized 'f', 'l', 'v' (3 values)
# 242 + 9 + 2*(3 + 4 + 4 + 11*3) = 339
def obsdict2list(obs_dict):
    # Augmented environment from the L2R challenge
    res = []

    # target velocity field (in body frame)
    v_tgt = np.ndarray.flatten(obs_dict['v_tgt_field'])
    res += v_tgt.tolist()

    res.append(obs_dict['pelvis']['height'])
    res.append(obs_dict['pelvis']['pitch'])
    res.append(obs_dict['pelvis']['roll'])
    res.append(obs_dict['pelvis']['vel'][0]/self.LENGTH0)
    res.append(obs_dict['pelvis']['vel'][1]/self.LENGTH0)
    res.append(obs_dict['pelvis']['vel'][2]/self.LENGTH0)
    res.append(obs_dict['pelvis']['vel'][3])
    res.append(obs_dict['pelvis']['vel'][4])
    res.append(obs_dict['pelvis']['vel'][5])

    for leg in ['r_leg', 'l_leg']:
        res += obs_dict[leg]['ground_reaction_forces']
        res.append(obs_dict[leg]['joint']['hip_abd'])
        res.append(obs_dict[leg]['joint']['hip'])
        res.append(obs_dict[leg]['joint']['knee'])
        res.append(obs_dict[leg]['joint']['ankle'])
        res.append(obs_dict[leg]['d_joint']['hip_abd'])
        res.append(obs_dict[leg]['d_joint']['hip'])
        res.append(obs_dict[leg]['d_joint']['knee'])
        res.append(obs_dict[leg]['d_joint']['ankle'])
        for MUS in ['HAB', 'HAD', 'HFL', 'GLU', 'HAM',
                    'RF', 'VAS', 'BFSH', 'GAS', 'SOL', 'TA']:
            res.append(obs_dict[leg][MUS]['f'])
            res.append(obs_dict[leg][MUS]['l'])
            res.append(obs_dict[leg][MUS]['v'])
    return res