diff --git a/myosuite/envs/myo/myochallenge/chasetag_v0.py b/myosuite/envs/myo/myochallenge/chasetag_v0.py index 302e1273..2099546e 100644 --- a/myosuite/envs/myo/myochallenge/chasetag_v0.py +++ b/myosuite/envs/myo/myochallenge/chasetag_v0.py @@ -170,7 +170,6 @@ def _setup(self, **kwargs, ): self._setup_convenience_vars() - self.reset_type = reset_type self.maxTime = 20 self.win_distance = win_distance self.grf_sensor_names = ['r_foot', 'r_toes', 'l_foot', 'l_toes'] @@ -178,6 +177,7 @@ def _setup(self, self.success_indicator_sid = self.sim.model.site_name2id("opponent_indicator") super()._setup(obs_keys=obs_keys, weighted_reward_keys=weighted_reward_keys, + reset_type=reset_type, **kwargs ) self.init_qpos[:] = self.sim.model.key_qpos[0] @@ -294,7 +294,7 @@ def viewer_setup(self, *args, **kwargs): def _get_randomized_initial_state(self): # randomly start with flexed left or right knee - if self.self.np_random.uniform() < 0.5: + if self.np_random.uniform() < 0.5: qpos = self.sim.model.key_qpos[2].copy() qvel = self.sim.model.key_qvel[2].copy() else: @@ -305,7 +305,7 @@ def _get_randomized_initial_state(self): # but dont change height or rot state rot_state = qpos[3:7] height = qpos[2] - qpos[:] = qpos[:] + self.self.np_random.normal(0, 0.02, size=qpos.shape) + qpos[:] = qpos[:] + self.np_random.normal(0, 0.02, size=qpos.shape) qpos[3:7] = rot_state qpos[2] = height return qpos, qvel