Update adroit_pen.py

Farama-Foundation · Jan 8, 2024 · 73023c7 · 73023c7
1 parent 30433f5
commit 73023c7
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/gymnasium_robotics/envs/adroit_hand/adroit_pen.py b/gymnasium_robotics/envs/adroit_hand/adroit_pen.py
@@ -301,9 +301,7 @@ def step(self, a):
         # compute the sparse reward variant first
         goal_distance = np.linalg.norm(obj_pos - desired_loc)
         orien_similarity = np.dot(obj_orien, desired_orien)
-        goal_achieved = (
-            True if (goal_distance < 0.075 and orien_similarity > 0.95) else False
-        )
+        goal_achieved = goal_distance < 0.075 and orien_similarity > 0.95)
         reward = 10.0 if goal_achieved else -0.1
 
         # goal_failed = obj_pos[2] < 0.075