robogym/envs/dactyl/face_perpendicular.py [357:377]:
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        return modifiers

    ###############################################################################################
    # Internal API - to be overridden - environment randomization
    def _randomize_cube_initial_position(self):
        """ Draw a random initial position for a cube """
        # Original env had this, but I'm not really sure it's needed
        for i in range(self.constants.reset_initial_steps):
            ctrl = self.mujoco_simulation.shadow_hand.denormalize_position_control(
                self.mujoco_simulation.shadow_hand.zero_control()
            )
            self.mujoco_simulation.shadow_hand.set_position_control(ctrl)
            self.mujoco_simulation.step()

        cube_translation = (
            self._random_state.randn(3) * self.parameters.cube_position_wiggle_std
        )
        self.mujoco_simulation.add_qpos("cube_position", cube_translation)

        cube_orientation = rotation.uniform_quat(self._random_state)
        self.mujoco_simulation.set_qpos("cube_rotation", cube_orientation)
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robogym/envs/dactyl/locked.py [193:213]:
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        return modifiers

    ###############################################################################################
    # Internal API
    def _randomize_cube_initial_position(self):
        """ Draw a random initial position for a cube """
        # Original env had this, but I'm not really sure it's needed
        for i in range(self.constants.reset_initial_steps):
            ctrl = self.mujoco_simulation.shadow_hand.denormalize_position_control(
                self.mujoco_simulation.shadow_hand.zero_control()
            )
            self.mujoco_simulation.shadow_hand.set_position_control(ctrl)
            self.mujoco_simulation.step()

        cube_translation = (
            self._random_state.randn(3) * self.parameters.cube_position_wiggle_std
        )
        self.mujoco_simulation.add_qpos("cube_position", cube_translation)

        cube_orientation = rotation.uniform_quat(self._random_state)
        self.mujoco_simulation.set_qpos("cube_rotation", cube_orientation)
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