environment.py

import numpy as np

class RobotEnv:
    def __init__(self, num_dof=6):
        self.num_dof = num_dof

    def get_random_start_state(self):
        return np.random.uniform(-1, 1, self.num_dof)  # Random start state

    def get_random_goal_state(self):
        return np.random.uniform(-1, 1, self.num_dof)  # Random goal state