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Add success metric to franka emika panda cartesian #162

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Merged
copybara-service merged 1 commit into from
Aug 13, 2025
Merged

Add success metric to franka emika panda cartesian #162

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11 changes: 8 additions & 3 deletions mujoco_playground/_src/manipulation/franka_emika_panda/pick_cartesian.py
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,8 @@ def reset(self, rng: jax.Array) -> mjx_env.State:
f'reward/{k}': 0.0
for k in self._config.reward_config.reward_scales.keys()
},
'reward/success': jp.array(0.0),
'reward/lifted': jp.array(0.0),
}

info = {
Expand Down Expand Up @@ -333,9 +335,8 @@ def step(self, state: mjx_env.State, action: jax.Array) -> mjx_env.State:

# Sparse rewards
box_pos = data.xpos[self._obj_body]
total_reward += (
box_pos[2] > 0.05
) * self._config.reward_config.lifted_reward
lifted = (box_pos[2] > 0.05) * self._config.reward_config.lifted_reward
total_reward += lifted
success = self._get_success(data, state.info)
total_reward += success * self._config.reward_config.success_reward

Expand All @@ -352,6 +353,10 @@ def step(self, state: mjx_env.State, action: jax.Array) -> mjx_env.State:
out_of_bounds |= box_pos[2] < 0.0
state.metrics.update(out_of_bounds=out_of_bounds.astype(float))
state.metrics.update({f'reward/{k}': v for k, v in raw_rewards.items()})
state.metrics.update({
'reward/lifted': lifted.astype(float),
'reward/success': success.astype(float),
})

done = (
out_of_bounds
Expand Down