From 57669b412e8105386c666c68d037a5c5276675e5 Mon Sep 17 00:00:00 2001
From: arth-shukla <44527268+arth-shukla@users.noreply.github.com>
Date: Wed, 6 Mar 2024 03:22:15 -0800
Subject: [PATCH] Debugging: add robot_to_obj_dist to info

---
 mani_skill2/envs/scenes/tasks/pick.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mani_skill2/envs/scenes/tasks/pick.py b/mani_skill2/envs/scenes/tasks/pick.py
index 982ec5197..49064e479 100644
--- 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]