fd9a073e56a1c2a03f72ae4df7b5e684134f8dc9,contrib/ros/envs/sawyer/pick_and_place_env.py,PickAndPlaceEnv,get_observation,#PickAndPlaceEnv#,63

Before Change

        obs = np.concatenate((robot_obs, manipulatable_obs["obs"]))

        return {
            "observation": obs,
            "achieved_goal": manipulatable_obs["achieved_goal"],
            "desired_goal": self.goal
        }

    def reward(self, achieved_goal, goal):
        
        Compute the reward for current step.

After Change

        obs = np.concatenate((robot_obs, world_obs.obs))

        Observation = collections.namedtuple(
            "Observation", "observation achieved_goal desired_goal")

        observation = Observation(
            observation=obs,
            achieved_goal=world_obs.achieved_goal,

Instances