Debugging: add robot_to_obj_dist to info

haosulab · Mar 6, 2024 · 57669b4 · 57669b4
1 parent 7ac3b92
commit 57669b4
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/mani_skill2/envs/scenes/tasks/pick.py b/mani_skill2/envs/scenes/tasks/pick.py
@@ -390,6 +390,8 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
                     else:
                         new_info[k] = info[k]
 
+            new_info["robot_to_obj_dist"] = robot_to_obj_dist
+
             if torch.any(robot_too_far):
                 # prevent torso and arm moving too much
                 arm_torso_qvel = self.agent.robot.qvel[..., 3:-2][robot_too_far]