diff --git a/docs/source/tasks/table_top_gripper/index.md b/docs/source/tasks/table_top_gripper/index.md index 2d24a1dd9..9b06d9fa6 100644 --- a/docs/source/tasks/table_top_gripper/index.md +++ b/docs/source/tasks/table_top_gripper/index.md @@ -144,6 +144,7 @@ Pick up a orange-white peg and insert the orange end into the box with a hole in ## LiftPegUpright-v1 +![dense-reward][reward-badge] :::{dropdown} Task Card :icon: note :color: primary @@ -157,7 +158,7 @@ A simple task where the objective is to move a peg laying on the table to any up - the peg's xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat along it's length on the table **Success Conditions:** -- the absolute value of the peg's z euler angle is within 0.08 of $\pi$/2 and the z position of the peg is within 0.005 of its half-length (0.12). +- the absolute value of the peg's y euler angle is within 0.08 of $\pi$/2 and the z position of the peg is within 0.005 of its half-length (0.12). ::: ## PullCube-v1 +![dense-reward][reward-badge] :::{dropdown} Task Card :icon: note :color: primary @@ -376,7 +378,7 @@ Digital Twin of real life push-T task from Diffusion Policy: https://diffusion-p "In this task, the robot needs to \ 1 precisely push the T- shaped block into the target region, and \ 2 move the end-effector to the end-zone which terminates the episode." \ -[We do not require 1 for the digital task] +[We do not require 2 for the digital task] **Supported Robots: PandaStick (WIP UR5e)**