From 9f86f6c1b0bab5db48be29b5c7a5515090e9f4c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Quentin=20GALLOU=C3=89DEC?= Date: Sun, 18 Apr 2021 17:59:58 +0200 Subject: [PATCH] change object generation of stacking --- panda_gym/envs/tasks/stack.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/panda_gym/envs/tasks/stack.py b/panda_gym/envs/tasks/stack.py index 5a2e5d78..64d46b17 100644 --- a/panda_gym/envs/tasks/stack.py +++ b/panda_gym/envs/tasks/stack.py @@ -134,15 +134,15 @@ def _sample_goal(self): return np.concatenate((goal1, goal2)) def _sample_objects(self): - while True: # make sure that cubes are distant enough - object1_position = [0.0, 0.0, self.object_size / 2] - object2_position = [0.0, 0.0, self.object_size / 2] - noise1 = self.np_random.uniform(self.obj_range_low, self.obj_range_high) - noise2 = self.np_random.uniform(self.obj_range_low, self.obj_range_high) - object1_position += noise1 - object2_position += noise2 - if distance(object1_position, object2_position) > 0.1: - return object1_position, object2_position + # while True: # make sure that cubes are distant enough + object1_position = [0.0, 0.0, self.object_size / 2] + object2_position = [0.0, 0.0, 3*self.object_size / 2] + noise1 = self.np_random.uniform(self.obj_range_low, self.obj_range_high) + noise2 = self.np_random.uniform(self.obj_range_low, self.obj_range_high) + object1_position += noise1 + object2_position += noise2 + # if distance(object1_position, object2_position) > 0.1: + return object1_position, object2_position def is_success(self, achieved_goal, desired_goal): # must be vectorized !!