jaco.py 文件源码

def reset_target(self):
        # Randomize goal position within specified bounds
        self.goal = np.random.rand(3) * (self.target_bounds[:, 1] -
                                         self.target_bounds[:, 0]
                                         ) + self.target_bounds[:, 0]
        geom_positions = self.sim.model.geom_pos.copy()
        prev_goal_location = geom_positions[1]

        while (np.linalg.norm(prev_goal_location - self.goal) <
               self.target_reset_distance):
            self.goal = np.random.rand(3) * (self.target_bounds[:, 1] -
                                             self.target_bounds[:, 0]
                                             ) + self.target_bounds[:, 0]

        geom_positions[1] = self.goal
        self.sim.model.geom_pos[:] = geom_positions