fix contact reward bug

ARISE-Initiative · Jun 1, 2018 · 91acd8b · 91acd8b
1 parent ed29bea
commit 91acd8b
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/MujocoManip/environments/sawyer_lift.py b/MujocoManip/environments/sawyer_lift.py
@@ -136,7 +136,7 @@ def reward(self, action):
                     touch_right_finger = True
                 if c.geom1 == self.cube_geom_id and c.geom2 == self.r_finger_geom_id:
                     touch_right_finger = True
-            if touch_right_finger and touch_right_finger:
+            if touch_left_finger and touch_right_finger:
                 reward += 0.25
 
         return reward

diff --git a/MujocoManip/environments/sawyer_stack.py b/MujocoManip/environments/sawyer_stack.py
@@ -157,7 +157,7 @@ def staged_rewards(self):
                 touch_right_finger = True
             if c.geom1 == self.cubeA_geom_id and c.geom2 == self.r_finger_geom_id:
                 touch_right_finger = True
-        if touch_right_finger and touch_right_finger:
+        if touch_left_finger and touch_right_finger:
             r_reach += 0.25
 
         # lifting is successful when the cube is above the table top