(self, physics)
Random state sampled from a unit sphere.
Random state sampled from a unit sphere.
Random state sampled from a unit sphere .
def initialize_episode(self, physics):
    """Random state sampled from a unit sphere."""
    ndof = physics.model.nq
    unit = self.random.randn(ndof)
    physics.data.qpos[:] = np.sqrt(2) * unit / np.linalg.norm(unit)
    super().initialize_episode(physics)
def initialize_episode ( self , physics ) : ndof = physics . model . nq unit = self . random . randn ( ndof ) physics . data . qpos [ : ] = np . sqrt ( 2 ) * unit / np . linalg . norm ( unit ) super ( ) . initialize_episode ( physics )