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Onur
2022-05-05 18:50:20 +02:00
parent a26b9f463b
commit 2cc1ab759c
11 changed files with 250 additions and 129 deletions
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alr_envs/alr/mujoco/reacher/alr_reacher.py
+21 -21
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@@ -68,35 +68,35 @@ class ALRReacherEnv(MujocoEnv, utils.EzPickle):
def viewer_setup(self):
self.viewer.cam.trackbodyid = 0
# def reset_model(self):
# qpos = self.init_qpos
# if not hasattr(self, "goal"):
# self.goal = np.array([-0.25, 0.25])
# # self.goal = self.init_qpos.copy()[:2] + 0.05
# qpos[-2:] = self.goal
# qvel = self.init_qvel
# qvel[-2:] = 0
# self.set_state(qpos, qvel)
# self._steps = 0
#
# return self._get_obs()
def reset_model(self):
qpos = self.init_qpos.copy()
while True:
self.goal = self.np_random.uniform(low=-self.n_links / 10, high=self.n_links / 10, size=2)
# self.goal = self.np_random.uniform(low=0, high=self.n_links / 10, size=2)
# self.goal = np.random.uniform(low=[-self.n_links / 10, 0], high=[0, self.n_links / 10], size=2)
if np.linalg.norm(self.goal) < self.n_links / 10:
break
qpos = self.init_qpos
if not hasattr(self, "goal"):
self.goal = np.array([-0.25, 0.25])
# self.goal = self.init_qpos.copy()[:2] + 0.05
qpos[-2:] = self.goal
qvel = self.init_qvel.copy()
qvel = self.init_qvel
qvel[-2:] = 0
self.set_state(qpos, qvel)
self._steps = 0
return self._get_obs()
# def reset_model(self):
# qpos = self.init_qpos.copy()
# while True:
# self.goal = self.np_random.uniform(low=-self.n_links / 10, high=self.n_links / 10, size=2)
# # self.goal = self.np_random.uniform(low=0, high=self.n_links / 10, size=2)
# # self.goal = np.random.uniform(low=[-self.n_links / 10, 0], high=[0, self.n_links / 10], size=2)
# if np.linalg.norm(self.goal) < self.n_links / 10:
# break
# qpos[-2:] = self.goal
# qvel = self.init_qvel.copy()
# qvel[-2:] = 0
# self.set_state(qpos, qvel)
# self._steps = 0
#
# return self._get_obs()
# def reset_model(self):
# qpos = self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq) + self.init_qpos
# while True: