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made fetchenv sample goal flexible (#1799)

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Rui
2020-04-25 05:34:39 +08:00
committed by GitHub
parent 3bd5ef71c2
commit 477aa1c277
1 changed files with 1 additions and 1 deletions
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gym/envs/robotics/fetch_env.py
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@@ -160,7 +160,7 @@ class FetchEnv(robot_env.RobotEnv):
if self.target_in_the_air and self.np_random.uniform() < 0.5: if self.target_in_the_air and self.np_random.uniform() < 0.5:
goal[2] += self.np_random.uniform(0, 0.45) goal[2] += self.np_random.uniform(0, 0.45)
else: 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() return goal.copy()
def _is_success(self, achieved_goal, desired_goal): def _is_success(self, achieved_goal, desired_goal):