From 477aa1c277c239a33acf54f36c35aae153e6c17b Mon Sep 17 00:00:00 2001 From: Rui <38036768+YangRui2015@users.noreply.github.com> Date: Sat, 25 Apr 2020 05:34:39 +0800 Subject: [PATCH] made fetchenv sample goal flexible (#1799) --- gym/envs/robotics/fetch_env.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gym/envs/robotics/fetch_env.py b/gym/envs/robotics/fetch_env.py index 31d70ee26..6f186857a 100644 --- a/gym/envs/robotics/fetch_env.py +++ b/gym/envs/robotics/fetch_env.py @@ -160,7 +160,7 @@ class FetchEnv(robot_env.RobotEnv): if self.target_in_the_air and self.np_random.uniform() < 0.5: goal[2] += self.np_random.uniform(0, 0.45) else: - goal = self.initial_gripper_xpos[:3] + self.np_random.uniform(-0.15, 0.15, size=3) + goal = self.initial_gripper_xpos[:3] + self.np_random.uniform(-self.target_range, self.target_range, size=3) return goal.copy() def _is_success(self, achieved_goal, desired_goal):