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added todo for contact detection in beer pong

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philipp 2022-07-13 13:34:28 +02:00
parent b04e7c1dcd
commit 26cc1136f6
1 changed files with 1 additions and 0 deletions
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alr_envs/envs/mujoco/beerpong/beerpong.py
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@ -217,6 +217,7 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
return reward, infos return reward, infos
def _check_contacts(self): def _check_contacts(self):
#TODO proper contact detection using sensors?
if not self.ball_table_contact: if not self.ball_table_contact:
self.ball_table_contact = self._check_collision({self.geom_id("ball_geom")}, self.ball_table_contact = self._check_collision({self.geom_id("ball_geom")},
{self.geom_id("table_contact_geom")}) {self.geom_id("table_contact_geom")})