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docs/design/network_inputs.md

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+# Neural network architecture and inputs
+
+## Inputs
+From the observations, we use:
+* joint_position
+* joint_velocity
+* joint_actuator_force
+* actuator_force
+* disk_position
+* disk_rotation
+* disk_linear_velocity
+* disk_angular_velocity
+* unit_xy_direction_to_target
+* xy_distance_to_target
+
+as inputs for the sensor and the feature extractor.
+
+## Sensor architecture
+todo