BUGFIX: Goal Condition

MyoHub · Oct 23, 2024 · 71e709e · 71e709e
1 parent 5d14602
commit 71e709e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/myosuite/envs/myo/myochallenge/bimanual_v0.py b/myosuite/envs/myo/myochallenge/bimanual_v0.py
@@ -50,7 +50,7 @@ def _setup(self,
                goal_center=np.array([0.4, -0.25, 1.05]),
                max_force=1500,  # Max force against throwing
 
-               proximity_th=0.015,  # object-target proximity threshold
+               proximity_th=0.15,  # object-target proximity threshold
 
                start_shifts=np.array([0.055, 0.055, 0]),
                # shift factor for start/goal random generation with z-axis fixed
@@ -246,6 +246,7 @@ def get_reward_dict(self, obs_dict):
         obj_pos = obs_dict["obj_pos"][0][0] if obs_dict['obj_pos'].ndim == 3 else obs_dict['obj_pos']
         palm_pos = obs_dict["palm_pos"][0][0] if obs_dict["palm_pos"].ndim == 3 else obs_dict["palm_pos"]
         goal_pos = obs_dict["goal_pos"][0][0] if obs_dict["goal_pos"].ndim == 3 else obs_dict["goal_pos"]
+        goal_pos = np.concatenate((goal_pos[:2], np.array([1.09])))
 
         lift_height = np.linalg.norm(np.array([[[obj_pos[-1], palm_pos[-1]]]]) -
                                      np.array([[[self.init_obj_z, self.init_palm_z]]]), axis=-1)