Fix: robot to obj dist sequentialtaskpick

haosulab · Mar 6, 2024 · 7ac3b92 · 7ac3b92
1 parent 293494e
commit 7ac3b92
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mani_skill2/envs/scenes/tasks/pick.py b/mani_skill2/envs/scenes/tasks/pick.py
@@ -338,7 +338,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
             tcp_pos = self.agent.tcp_pose.p
 
             robot_to_obj_dist = torch.norm(
-                self.agent.torso_lift_link.pose.p - self.agent.tcp_pose.p, dim=1
+                self.agent.torso_lift_link.pose.p - obj_pos, dim=1
             )