fix reward reach

perezjln · Jun 13, 2024 · 857fb6a · 857fb6a
1 parent 7198d64
commit 857fb6a
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/gym_lowcostrobot/envs/reach_cube_env.py b/gym_lowcostrobot/envs/reach_cube_env.py
@@ -186,9 +186,8 @@ def step(self, action):
         observation = self.get_observation()
 
         # Get the position of the cube and the distance between the end effector and the cube
-        cube_pos = self.data.qpos[:3]
-        ee_id = self.model.body("moving_side").id
-        ee_pos = self.data.geom_xpos[ee_id]
+        cube_pos = self.data.xpos[2]
+        ee_pos = self.data.xpos[8]
         ee_to_cube = np.linalg.norm(ee_pos - cube_pos)
 
         # Compute the reward