# 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