Updates robomimic config for Franka-Lift environment (#69)

* Enlarges the hard-coded success range from 0.002 to 0.02
* Updates observations in BC configs from `object_positions` to `object_relative_tool_positions`

source/extensions/omni.isaac.orbit_envs/data/robomimic/lift_bc.json

@@ -143,7 +143,7 @@
                 "low_dim": [
                     "tool_dof_pos_scaled",
                     "tool_positions",
-                    "object_positions",
+                    "object_relative_tool_positions",
                     "object_desired_positions"
                 ],
                 "rgb": [],

source/extensions/omni.isaac.orbit_envs/data/robomimic/lift_bcq.json

@@ -179,7 +179,7 @@
                 "low_dim": [
                     "tool_dof_pos_scaled",
                     "tool_positions",
-                    "object_positions",
+                    "object_relative_tool_positions",
                     "object_desired_positions"
                 ],
                 "rgb": [],

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py

@@ -183,7 +183,7 @@ class LiftEnv(IsaacEnv):
         self.extras["time_outs"] = self.episode_length_buf >= self.max_episode_length
         # -- add information to extra if task completed
         object_position_error = torch.norm(self.object.data.root_pos_w - self.object_des_pose_w[:, 0:3], dim=1)
-        self.extras["is_success"] = torch.where(object_position_error < 0.002, 1, self.reset_buf)
+        self.extras["is_success"] = torch.where(object_position_error < 0.02, 1, self.reset_buf)
         # -- update USD visualization
         if self.cfg.viewer.debug_vis and self.enable_render:
             self._debug_vis()
@@ -287,7 +287,7 @@ class LiftEnv(IsaacEnv):
         # -- when task is successful
         if self.cfg.terminations.is_success:
             object_position_error = torch.norm(self.object.data.root_pos_w - self.object_des_pose_w[:, 0:3], dim=1)
-            self.reset_buf = torch.where(object_position_error < 0.002, 1, self.reset_buf)
+            self.reset_buf = torch.where(object_position_error < 0.02, 1, self.reset_buf)
         # -- object fell off the table (table at height: 0.0 m)
         if self.cfg.terminations.object_falling:
             self.reset_buf = torch.where(object_pos[:, 2] < -0.05, 1, self.reset_buf)