striker.py 文件源码

def reset_model(self):
        self._min_strike_dist = np.inf
        self._striked = False
        self._strike_pos = None

        qpos = self.init_qpos

        self.ball = np.array([0.5, -0.175])
        while True:
            self.goal = np.concatenate([
                    self.np_random.uniform(low=0.15, high=0.7, size=1),
                    self.np_random.uniform(low=0.1, high=1.0, size=1)])
            if np.linalg.norm(self.ball - self.goal) > 0.17:
                break

        qpos[-9:-7] = [self.ball[1], self.ball[0]]
        qpos[-7:-5] = self.goal
        diff = self.ball - self.goal
        angle = -np.arctan(diff[0] / (diff[1] + 1e-8))
        qpos[-1] = angle / 3.14
        qvel = self.init_qvel + self.np_random.uniform(low=-.1, high=.1,
                size=self.model.nv)
        qvel[7:] = 0
        self.set_state(qpos, qvel)
        return self._get_obs()