diff --git a/MujocoManip/environments/sawyer_lift.py b/MujocoManip/environments/sawyer_lift.py index 0dcdb927c9..16f9a11d26 100644 --- 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 index c4337a8510..9ed4af4045 100644 --- 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