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24 lines
891 B
Python
24 lines
891 B
Python
import os
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from gym import utils
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from gym.envs.robotics import fetch_env
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# Ensure we get the path separator correct on windows
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MODEL_XML_PATH = os.path.join('fetch', 'push.xml')
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class FetchPushEnv(fetch_env.FetchEnv, utils.EzPickle):
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def __init__(self, reward_type='sparse'):
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initial_qpos = {
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'robot0:slide0': 0.405,
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'robot0:slide1': 0.48,
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'robot0:slide2': 0.0,
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'object0:joint': [1.25, 0.53, 0.4, 1., 0., 0., 0.],
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}
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fetch_env.FetchEnv.__init__(
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self, MODEL_XML_PATH, has_object=True, block_gripper=True, n_substeps=20,
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gripper_extra_height=0.0, target_in_the_air=False, target_offset=0.0,
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obj_range=0.15, target_range=0.15, distance_threshold=0.05,
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initial_qpos=initial_qpos, reward_type=reward_type)
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utils.EzPickle.__init__(self, reward_type=reward_type)
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