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Merge branch 'bruce_port_envs' into future

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Dominik Moritz Roth 2024-02-02 17:00:35 +01:00
commit 9295e21d68
1 changed files with 3 additions and 0 deletions
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fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
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@ -50,6 +50,7 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
self._desired_rod_quat = desired_rod_quat self._desired_rod_quat = desired_rod_quat
self._episode_energy = 0. self._episode_energy = 0.
self.velocity_profile = []
self.observation_space = spaces.Box( self.observation_space = spaces.Box(
low=-np.inf, high=np.inf, shape=(28,), dtype=np.float64 low=-np.inf, high=np.inf, shape=(28,), dtype=np.float64
@ -68,6 +69,8 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
unstable_simulation = False unstable_simulation = False
self.velocity_profile.append(self.data.qvel[:7].copy())
try: try:
self.do_simulation(resultant_action, self.frame_skip) self.do_simulation(resultant_action, self.frame_skip)
except Exception as e: except Exception as e: