Method _get_pos_goal

metaworld/sawyer_xyz_env.py:465–473

Retrieves goal position from mujoco properties or instance vars. Returns: Flat array (3 elements) representing the goal position

(self)

        raise NotImplementedError

    def _get_pos_goal(self) -> npt.NDArray[Any]:
        """Retrieves goal position from mujoco properties or instance vars.

        Returns:
            Flat array (3 elements) representing the goal position
        """
        assert isinstance(self._target_pos, np.ndarray)
        assert self._target_pos.ndim == 1
        return self._target_pos

    def _get_curr_obs_combined_no_goal(self) -> npt.NDArray[np.float64]:
        """Combines the end effector's {pos, closed amount} and the object(s)' {pos, quat} into a single flat observation.