is_success consistency

qgallouedec · Jun 10, 2024 · 0d17e18 · 0d17e18
1 parent 902502f
commit 0d17e18
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Showing 6 changed files with 6 additions and 6 deletions.
diff --git a/panda_gym/envs/tasks/flip.py b/panda_gym/envs/tasks/flip.py
@@ -78,7 +78,7 @@ def _sample_object(self) -> Tuple[np.ndarray, np.ndarray]:
         object_rotation = np.zeros(3)
         return object_position, object_rotation
 
-    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> np.ndarray:
+    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: Dict[str, Any] = {}) -> np.ndarray:
         d = angle_distance(achieved_goal, desired_goal)
         return np.array(d < self.distance_threshold, dtype=bool)
 

diff --git a/panda_gym/envs/tasks/pick_and_place.py b/panda_gym/envs/tasks/pick_and_place.py
@@ -83,7 +83,7 @@ def _sample_object(self) -> np.ndarray:
         object_position += noise
         return object_position
 
-    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> np.ndarray:
+    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: Dict[str, Any] = {}) -> np.ndarray:
         d = distance(achieved_goal, desired_goal)
         return np.array(d < self.distance_threshold, dtype=bool)
 

diff --git a/panda_gym/envs/tasks/push.py b/panda_gym/envs/tasks/push.py
@@ -85,7 +85,7 @@ def _sample_object(self) -> np.ndarray:
         object_position += noise
         return object_position
 
-    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> np.ndarray:
+    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: Dict[str, Any] = {}) -> np.ndarray:
         d = distance(achieved_goal, desired_goal)
         return np.array(d < self.distance_threshold, dtype=bool)
 

diff --git a/panda_gym/envs/tasks/reach.py b/panda_gym/envs/tasks/reach.py
@@ -52,7 +52,7 @@ def _sample_goal(self) -> np.ndarray:
         goal = self.np_random.uniform(self.goal_range_low, self.goal_range_high)
         return goal
 
-    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> np.ndarray:
+    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: Dict[str, Any] = {}) -> np.ndarray:
         d = distance(achieved_goal, desired_goal)
         return np.array(d < self.distance_threshold, dtype=bool)
 

diff --git a/panda_gym/envs/tasks/slide.py b/panda_gym/envs/tasks/slide.py
@@ -89,7 +89,7 @@ def _sample_object(self) -> np.ndarray:
         object_position += noise
         return object_position
 
-    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> np.ndarray:
+    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: Dict[str, Any] = {}) -> np.ndarray:
         d = distance(achieved_goal, desired_goal)
         return np.array(d < self.distance_threshold, dtype=bool)
 

diff --git a/panda_gym/envs/tasks/stack.py b/panda_gym/envs/tasks/stack.py
@@ -117,7 +117,7 @@ def _sample_objects(self) -> Tuple[np.ndarray, np.ndarray]:
         # if distance(object1_position, object2_position) > 0.1:
         return object1_position, object2_position
 
-    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> np.ndarray:
+    def is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: Dict[str, Any] = {}) -> np.ndarray:
         # must be vectorized !!
         d = distance(achieved_goal, desired_goal)
         return np.array((d < self.distance_threshold), dtype=bool)