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enable follow_rot to be set

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correct grab goal settings
enable different links for different goal types
This commit is contained in:
Bart Moyaers
2020-02-13 14:39:21 +01:00
parent 92231d9c3c
commit 541a145e2d
2 changed files with 12 additions and 8 deletions
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13
examples/pybullet/gym/pybullet_envs/deep_mimic/env/goals.py vendored
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@@ -64,8 +64,9 @@ class Strike(Goal):
distance_RB: RandomBounds,
height_RB: RandomBounds,
rot_RB: RandomBounds,
hit_range = 0.2):
self.follow_rot = True
hit_range = 0.2,
follow_rot = True):
self.follow_rot = follow_rot
self.is_hit_prev = False
self.distance_RB = distance_RB
self.height_RB = height_RB
@@ -127,12 +128,12 @@ class Kick(Strike):
super().__init__(distance_RB, height_RB, rot_RB, hit_range=0.2)
class Grab(Strike):
def __inite__(self):
def __init__(self):
distance_RB = RandomBounds(0.6, 0.8)
height_RB = RandomBounds(0.8, 0.9)
rot_RB = RandomBounds(-1, 1)
height_RB = RandomBounds(0.8, 1.1)
rot_RB = RandomBounds(3.14159 - 0.5, 3.14159 + 0.5)
hit_range = 0.1
super().__init__(distance_RB, height_RB, rot_RB, hit_range=hit_range)
super().__init__(distance_RB, height_RB, rot_RB, hit_range=hit_range, follow_rot=False)
class TargetHeadingGoal(Goal):
def __init__(self):