mirror of
https://github.com/Farama-Foundation/Gymnasium.git
synced 2025-09-05 19:38:22 +00:00
33 lines
948 B
Python
33 lines
948 B
Python
import os
|
|
from gym import utils
|
|
from gym.envs.robotics import fetch_env
|
|
|
|
|
|
# Ensure we get the path separator correct on windows
|
|
MODEL_XML_PATH = os.path.join("fetch", "reach.xml")
|
|
|
|
|
|
class FetchReachEnv(fetch_env.FetchEnv, utils.EzPickle):
|
|
def __init__(self, reward_type="sparse"):
|
|
initial_qpos = {
|
|
"robot0:slide0": 0.4049,
|
|
"robot0:slide1": 0.48,
|
|
"robot0:slide2": 0.0,
|
|
}
|
|
fetch_env.FetchEnv.__init__(
|
|
self,
|
|
MODEL_XML_PATH,
|
|
has_object=False,
|
|
block_gripper=True,
|
|
n_substeps=20,
|
|
gripper_extra_height=0.2,
|
|
target_in_the_air=True,
|
|
target_offset=0.0,
|
|
obj_range=0.15,
|
|
target_range=0.15,
|
|
distance_threshold=0.05,
|
|
initial_qpos=initial_qpos,
|
|
reward_type=reward_type,
|
|
)
|
|
utils.EzPickle.__init__(self, reward_type=reward_type)
|