From 88110c95a0a67e1e99eccb9b756cc851676ad930 Mon Sep 17 00:00:00 2001 From: Vincent Moens Date: Mon, 24 Jun 2024 10:24:38 +0100 Subject: [PATCH] np.product -> np.prod for np 2.0 compatibility --- robohive/envs/multi_task/multi_task_base_v1.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/robohive/envs/multi_task/multi_task_base_v1.py b/robohive/envs/multi_task/multi_task_base_v1.py index a18adda4..4122593e 100644 --- a/robohive/envs/multi_task/multi_task_base_v1.py +++ b/robohive/envs/multi_task/multi_task_base_v1.py @@ -200,9 +200,9 @@ def get_reward_dict(self, obs_dict): # Optional Keys ("obj_goal", -np.sum(goal_dist, axis=-1)), ("bonus", - 1.0*np.product(goal_dist < 5 * self.obj["dof_proximity"], axis=-1) + 1.0*np.prod(goal_dist < 5 * self.obj["dof_proximity"], axis=-1) # np.product(goal_dist < 0.75 * self.obj["dof_ranges"], axis=-1) - + 1.0*np.product(goal_dist < 1.67 * self.obj["dof_proximity"], axis=-1), + + 1.0*np.prod(goal_dist < 1.67 * self.obj["dof_proximity"], axis=-1), # + np.product(goal_dist < 0.25 * self.obj["dof_ranges"], axis=-1), ), ("pose", -np.sum(np.abs(obs_dict["pose_err"]), axis=-1)), @@ -272,4 +272,4 @@ def set_obj_goal(self, obj_goal=None, interact_site=None): elif type(interact_site) is str: # overwrite using name self.interact_sid = self.sim.model.site_name2id(interact_site) elif type(interact_site) is int: # overwrite using id - self.interact_sid = interact_site \ No newline at end of file + self.interact_sid = interact_site