how to reset target when pickup objects in HER

[gautica]

Hi,
thanks for the interesting work. I am not sure how you set the goal for the pickup or pushing task, because the goal is the position of the object. As I understand, the goal of all the failure trials before touching the object is set to be the same object position, as it doesn't move. But it sounds not very correct to me. Is it set in this way? Thank you very much