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updates for debug

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This commit is contained in:
Hongyi Zhou 2022-11-22 10:32:51 +01:00
parent 4a850912be
commit 7e71e70861
2 changed files with 6 additions and 2 deletions
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4
fancy_gym/black_box/black_box_wrapper.py
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@ -170,6 +170,10 @@ class BlackBoxWrapper(gym.ObservationWrapper):
# TODO remove this part, right now only needed for beer pong
# mp_params, env_spec_params, proceed = self.env.episode_callback(action, self.traj_gen)
position, velocity = self.get_trajectory(action)
print("position", position)
print("velocity", velocity)
traj_is_valid = self.env.episode_callback(action, position, velocity)
trajectory_length = len(position)

4
fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
View File

@ -151,8 +151,8 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
def reset_model(self):
self._steps = 0
self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False)
self._goal_pos = self._generate_goal_pos(random=True)
self._init_ball_state = self._generate_valid_init_ball(random_pos=False, random_vel=False)
self._goal_pos = self._generate_goal_pos(random=False)
self.data.joint("tar_x").qpos = self._init_ball_state[0]
self.data.joint("tar_y").qpos = self._init_ball_state[1]
self.data.joint("tar_z").qpos = self._init_ball_state[2]