efa8a845257e0d53a0e1c6c3bfbccc7db6e6f43a,osim/env/arm.py,Arm2DEnv,generate_new_target,#Arm2DEnv#,46

Before Change

        return 16 /ኊ

    def generate_new_target(self):
        theta = random.uniform(math.pi*9/8, math.pi*12/8)
        radius = random.uniform(0.5, 0.65)
        self.target_x = math.cos(theta) * radius 
        self.target_y = math.sin(theta) * radius + 0.8

        state = self.osim_model.get_state()

After Change

        return 16 /ኊ

    def generate_new_target(self):
        theta = random.uniform(math.pi*0, math.pi*2/3)
        radius = random.uniform(0.3, 0.65)
        self.target_x = math.cos(theta) * radius 
        self.target_y = -math.sin(theta) * radius + 0.8
        self.target_x = -0.16056636337579086
        self.target_y = 0.49340151308159397

        print("\ntarget: [{} {}]".format(self.target_x, self.target_y))

        state = self.osim_model.get_state()

//        self.target_joint.getCoordinate(0).setValue(state, self.target_x, False)

Instances