From 805887c7cf94c0e59ab9da6788d111ed3f89d838 Mon Sep 17 00:00:00 2001
From: ohwi <supebulous@gmail.com>
Date: Sun, 23 Jun 2019 21:22:22 +0900
Subject: [PATCH] Issue #67: Add the distance between the gripper and the
 target into state

---
 scripts/envs/open_manipulator/ros_interface.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/scripts/envs/open_manipulator/ros_interface.py b/scripts/envs/open_manipulator/ros_interface.py
index e47c385..aebfc23 100755
--- a/scripts/envs/open_manipulator/ros_interface.py
+++ b/scripts/envs/open_manipulator/ros_interface.py
@@ -219,6 +219,9 @@ class OpenManipulatorRosBaseInterface(object):
         robot_joint_velocities = np.array(self.joint_velocities)
         robot_joint_efforts = np.array(self.joint_efforts)
 
+        # dist to target
+        dist = np.array([self.get_dist()])
+
         obs = np.concatenate(
             (
                 gripper_pos,
@@ -226,6 +229,7 @@ class OpenManipulatorRosBaseInterface(object):
                 robot_joint_angles,
                 robot_joint_velocities,
                 robot_joint_efforts,
+                dist
             )
         )
         return obs