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fix bug in chasetag for reset_type='random' #67

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merged 1 commit into from
Aug 4, 2023
Merged

fix bug in chasetag for reset_type='random' #67

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6 changes: 3 additions & 3 deletions myosuite/envs/myo/myochallenge/chasetag_v0.py
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Original file line number Diff line number Diff line change
Expand Up @@ -170,14 +170,14 @@ 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']
self.opponent = ChallengeOpponent(sim=self.sim, rng=self.np_random, probabilities=opponent_probabilities, min_spawn_distance = min_spawn_distance)
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]
Expand Down Expand Up @@ -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:
Expand All @@ -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
Expand Down