def _sample_goal()

in gym_xarm/tasks/lift.py [0:0]

• 11 lines of code
• 1 McCabe index (conditional complexity)

    def _sample_goal(self):
        # Gripper
        gripper_pos = np.array([1.280, 0.295, 0.735]) + self.np_random.uniform(-0.05, 0.05, size=3)
        super()._set_gripper(gripper_pos, self.gripper_rotation)

        # Object
        object_pos = self.center_of_table - np.array([0.15, 0.10, 0.07])
        object_pos[0] += self.np_random.uniform(-0.05, 0.05)
        object_pos[1] += self.np_random.uniform(-0.05, 0.05)
        object_qpos = self._utils.get_joint_qpos(self.model, self.data, "object_joint0")
        object_qpos[:3] = object_pos
        self._utils.set_joint_qpos(self.model, self.data, "object_joint0", object_qpos)
        self._init_z = object_pos[2]

        # Goal
        return object_pos + np.array([0, 0, self._z_threshold])