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fix: bound x-offset at both ends in PegInsertionSide success condition #1431

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fix: bound x-offset at both ends in PegInsertionSide success condition #1431

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2 changes: 1 addition & 1 deletion mani_skill/envs/tasks/tabletop/peg_insertion_side.py
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Original file line number Diff line number Diff line change
Expand Up @@ -270,7 +270,7 @@ def has_peg_inserted(self):
# Only head position is used in fact
peg_head_pos_at_hole = (self.box_hole_pose.inv() * self.peg_head_pose).p
# x-axis is hole direction
x_flag = -0.015 <= peg_head_pos_at_hole[:, 0]
x_flag = (-0.015 <= peg_head_pos_at_hole[:, 0]) & (peg_head_pos_at_hole[:, 0] <= 0.015)
y_flag = (-self.box_hole_radii <= peg_head_pos_at_hole[:, 1]) & (
peg_head_pos_at_hole[:, 1] <= self.box_hole_radii
)
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