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BugFix: Missing new get_initial_robot_state method in TT

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This commit is contained in:
Dominik Moritz Roth 2024-01-28 12:56:53 +01:00
parent 3bc0a23ec2
commit c9ea8cb167
1 changed files with 11 additions and 0 deletions
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11
fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
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@ -179,6 +179,17 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
return True return True
return False return False
def get_initial_robot_state(self):
robot_init_pos = DEFAULT_ROBOT_INIT_POS + \
self.np_random.uniform(-1.0, 1.0, size=7) *\
np.array([5.2, 4.0, 5.6, 4.0, 6.1, 3.2, 4.4]) *\
self._random_pos_scale
robot_init_vel = DEFAULT_ROBOT_INIT_VEL + self.np_random.uniform(-1.0, 1.0, size=7) * self._random_vel_scale
return np.clip(robot_init_pos, jnt_pos_low, jnt_pos_high), np.clip(robot_init_vel, jnt_vel_low, jnt_vel_high)
def reset_model(self): def reset_model(self):
self._steps = 0 self._steps = 0
self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False) self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False)