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minor updates

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This commit is contained in:
Hongyi Zhou 2022-12-01 14:34:53 +01:00
parent a1d660d7ae
commit ca8787f449
2 changed files with 5 additions and 4 deletions
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5
fancy_gym/envs/__init__.py
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@ -254,8 +254,6 @@ for ctxt_dim in [2, 4]:
kwargs={ kwargs={
"ctxt_dim": ctxt_dim, "ctxt_dim": ctxt_dim,
'frame_skip': 4, 'frame_skip': 4,
'goal_switching_step': None,
'enable_artificial_wind': False,
} }
) )
@ -269,6 +267,9 @@ register(
id='TableTennisGoalSwitching-v0', id='TableTennisGoalSwitching-v0',
entry_point='fancy_gym.envs.mujoco:TableTennisGoalSwitching', entry_point='fancy_gym.envs.mujoco:TableTennisGoalSwitching',
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS, max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS,
kwargs={
'goal_switching_step': 99
}
) )

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

@ -149,8 +149,8 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
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=False, random_vel=False) self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False)
self._goal_pos = self._generate_goal_pos(random=False) self._goal_pos = self._generate_goal_pos(random=True)
self.data.joint("tar_x").qpos = self._init_ball_state[0] 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_y").qpos = self._init_ball_state[1]
self.data.joint("tar_z").qpos = self._init_ball_state[2] self.data.joint("tar_z").qpos = self._init_ball_state[2]