Open OOXXXXOO opened 1 year ago
r3m/evaluation/r3meval/utils/gym_env.py:
def reset(self, seed=None):
try:
self.env._elapsed_steps = 0
return self.env.unwrapped.reset_model(seed=seed)
except:
if seed is not None:
self.set_seed(seed)
return self.env.reset()
inference stack :
mj_envs/mj_envs/envs/relay_kitchen/kitchen_multitask_v2.py
class KitchenFrankaRandomDesk(KitchenFrankaFixed):
def reset(self, reset_qpos=None, reset_qvel=None):
if reset_qpos is None:
reset_qpos = self.init_qpos.copy()
reset_qpos[self.robot_dofs] += (
0.05
* (self.np_random.uniform(size=len(self.robot_dofs)) - 0.5)
* (self.robot_ranges[:, 1] - self.robot_ranges[:, 0])
)
ncon = 10
while ncon > 4:
self.sim.model.body_pos[14] = np.array([-0.1, 0.75, 0.0]) + np.random.uniform(-0.1, 0.1, (3,))
self.sim.step()
ncon = self.sim.data.ncon
return super().reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel)
But KitchenFrankaRandomDesk Function don't have implement the 'reset_model' function
@suraj-nair-1 ???
run
get output: