Skip to content

reaching_goal

ReachingGoal

Bases: SuccessCondition

ReachingGoal (success condition) used for reaching-type tasks Episode terminates if reaching goal is reached within @distance_tol by the @robot_idn robot's base

Parameters:

Name Type Description Default
robot_idn int

robot identifier to evaluate point goal with. Default is 0, corresponding to the first robot added to the scene

0
distance_tol float

Distance (m) tolerance between goal position and @robot_idn's robot eef position that is accepted as a success

0.5
Source code in termination_conditions/reaching_goal.py
class ReachingGoal(SuccessCondition):
    """
    ReachingGoal (success condition) used for reaching-type tasks
    Episode terminates if reaching goal is reached within @distance_tol by the @robot_idn robot's base

    Args:

    Args:
        robot_idn (int): robot identifier to evaluate point goal with. Default is 0, corresponding to the first
            robot added to the scene
        distance_tol (float): Distance (m) tolerance between goal position and @robot_idn's robot eef position
            that is accepted as a success
    """

    def __init__(self, robot_idn=0, distance_tol=0.5):
        self._robot_idn = robot_idn
        self._distance_tol = distance_tol

        # Run super init
        super().__init__()

    def _step(self, task, env, action):
        # Terminate if point goal is reached (distance below threshold)
        return T.l2_distance(env.scene.robots[self._robot_idn].get_end_effector_position(), task.goal_pos) < \
               self._distance_tol