0cef3e36b3283534bc0395d167e4e2a63c5ff9e2,softlearning/environments/image_pusher.py,ImageForkReacherEnv,reset,#ImageForkReacherEnv#Any#,111

Before Change

        qpos = np.random.uniform(
            low=-0.1, high=0.1, size=self.model.nq) + self.init_qpos.squeeze()

        target_pos = np.array([np.random.choice([-0.5, 0.5]), 0.0])
        // target_pos = np.random.uniform([-1.0], [1.0], size=[2])
        // target_pos = np.sign(target_pos) * np.maximum(np.abs(target_pos), 1/3)
        // target_pos[np.where(target_pos == 0)] = 1.0
        // target_pos[1] += 1.0

After Change

            low=-0.1, high=0.1, size=self.model.nq) + self.init_qpos.squeeze()

        target_pos = np.random.uniform([-1.0], [1.0], size=[2])
        target_pos = np.sign(target_pos) * np.maximum(np.abs(target_pos), 1/2)
        target_pos[np.where(target_pos == 0)] = 1.0
        target_pos[1] += 1.0

        qpos[self.TARGET_INDS] = target_pos
        // qpos[self.TARGET_INDS] = [1.0, 2.0]
        // qpos[self.TARGET_INDS] = self.init_qpos.squeeze()[self.TARGET_INDS]

Instances