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Yufa/loco lift #2

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21 changes: 21 additions & 0 deletions robosuite/environments/manipulation/lift.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
from collections import OrderedDict

import numpy as np
import random

from robosuite.environments.manipulation.manipulation_env import ManipulationEnv
from robosuite.models.arenas import TableArena
Expand Down Expand Up @@ -438,3 +439,23 @@ def _check_success(self):

# cube is higher than the table top above a margin
return cube_height > table_height + 0.04


class LocoLift(Lift):

def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
self.table_full_size = random.choice([(2.0, 0.8, 0.05), (0.8, 2.0, 0.05)])
self.table_offset = np.array(
(
random.uniform(0, 1),
random.uniform(-0.5, 0.5),
0.8,
)
)
if self.placement_initializer is not None:
self.placement_initializer.reference_pos = self.table_offset

super()._load_model()
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