Merge pull request #147 from vmoens/patch-2

np.product -> np.prod for np 2.0 compatibility

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
+            self.interact_sid = interact_site