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34 lines
1013 B
Python
34 lines
1013 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, 0.0, 0.0],
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}
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fetch_env.FetchEnv.__init__(
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self,
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MODEL_XML_PATH,
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has_object=True,
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block_gripper=True,
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n_substeps=20,
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gripper_extra_height=0.0,
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target_in_the_air=False,
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target_offset=0.0,
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obj_range=0.15,
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target_range=0.15,
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distance_threshold=0.05,
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initial_qpos=initial_qpos,
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reward_type=reward_type,
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)
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utils.EzPickle.__init__(self, reward_type=reward_type)
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