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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 end effector

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 OmniGibson/omnigibson/termination_conditions/reaching_goal.py 
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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 end effector

    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)
        results = th.zeros(env.num_envs, dtype=th.bool)
        for env_idx in range(env.num_envs):
            robot = env.scenes[env_idx].robots[self._robot_idn]
            eef_pos = robot.get_eef_position()
            dist = T.l2_distance(eef_pos, task.get_goal_pos(env_idx))
            results[env_idx] = dist < self._distance_tol
        return results