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change accessing body position in beerpong.py

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Onur 2022-06-30 18:17:02 +02:00
parent a7051cd8b7
commit 4437ab9577
1 changed files with 5 additions and 6 deletions
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11
alr_envs/alr/mujoco/beerpong/beerpong.py
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@ -144,16 +144,15 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
infos.update(reward_infos) infos.update(reward_infos)
return ob, reward, done, infos return ob, reward, done, infos
def _check_traj_in_joint_limits(self): # def _check_traj_in_joint_limits(self):
return any(self.current_pos > self.j_max) or any(self.current_pos < self.j_min) # return any(self.current_pos > self.j_max) or any(self.current_pos < self.j_min)
def _get_obs(self): def _get_obs(self):
theta = self.sim.data.qpos.flat[:7] theta = self.sim.data.qpos.flat[:7]
theta_dot = self.sim.data.qvel.flat[:7] theta_dot = self.sim.data.qvel.flat[:7]
ball_pos = self.sim.data.body_xpos[self.sim.model._body_name2id["ball"]].copy() ball_pos = self.data.get_body_xpos("ball").copy()
cup_goal_diff_final = ball_pos - self.sim.data.site_xpos[ cup_goal_diff_final = ball_pos - self.data.get_site_xpos("cup_goal_final_table").copy()
self.sim.model._site_name2id["cup_goal_final_table"]].copy() cup_goal_diff_top = ball_pos - self.data.get_site_xpos("cup_goal_table").copy()
cup_goal_diff_top = ball_pos - self.sim.data.site_xpos[self.sim.model._site_name2id["cup_goal_table"]].copy()
return np.concatenate([ return np.concatenate([
np.cos(theta), np.cos(theta),
np.sin(theta), np.sin(theta),