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Auto load goals #84

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28ee206
make door goals numpy 1.16 compatible
vitchyr Jun 5, 2019
8182f28
automatically expose presampled goals for door env
vitchyr Jun 7, 2019
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Binary file added multiworld/envs/assets/goals/door_goals.npy
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0 multiworld/envs/mujoco/goals/door_goals.npy → ...d/envs/assets/goals/door_goals_backup.npy
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0 ...iworld/envs/mujoco/goals/pickup_goals.npy → ...iworld/envs/assets/goals/pickup_goals.npy
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4 changes: 4 additions & 0 deletions multiworld/envs/mujoco/sawyer_xyz/sawyer_door_hook.py
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,10 @@ def _get_info(self):
def get_door_angle(self):
return np.array([self.data.get_joint_qpos('doorjoint')])

@property
def presampled_goals_path(self):
return get_asset_full_path('goals/door_goals.npy')

@property
def endeff_id(self):
return self.model.body_names.index('leftclaw')
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