Merge pull request #10 from rail-berkeley/random_reset_small_bug_fix

fix random reset z axis bug
rail-berkeley · Jan 23, 2024 · 50429be · 50429be
2 parents f4ddb5c + 137f1e8
commit 50429be
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diff --git a/serl_robot_infra/franka_env/envs/cable_env/franka_cable_route.py b/serl_robot_infra/franka_env/envs/cable_env/franka_cable_route.py
@@ -37,6 +37,7 @@ def go_to_rest(self, joint_reset=False):
 
         # Perform Carteasian reset
         if self.randomreset:  # randomize reset position in xy plane
+            reset_pose = self.resetpos.copy()
             reset_pose[:2] += np.random.uniform(
                 -self.random_xy_range, self.random_xy_range, (2,)
             )

diff --git a/serl_robot_infra/franka_env/envs/pcb_env/franka_pcb_insert.py b/serl_robot_infra/franka_env/envs/pcb_env/franka_pcb_insert.py
@@ -45,6 +45,7 @@ def go_to_rest(self, joint_reset=False):
 
         # Perform Carteasian reset
         if self.randomreset:  # randomize reset position in xy plane
+            reset_pose = self.resetpos.copy()
             reset_pose[:2] += np.random.uniform(
                 -self.random_xy_range, self.random_xy_range, (2,)
             )

diff --git a/serl_robot_infra/franka_env/envs/peg_env/franka_peg_insert.py b/serl_robot_infra/franka_env/envs/peg_env/franka_peg_insert.py
@@ -36,6 +36,7 @@ def go_to_rest(self, joint_reset=False):
 
         # Perform Carteasian reset
         if self.randomreset:  # randomize reset position in xy plane
+            reset_pose = self.resetpos.copy()
             reset_pose[:2] += np.random.uniform(
                 -self.random_xy_range, self.random_xy_range, (2,)
             )