docs(envs): sync reach.rst to the canonical 0.02 reach tolerance

All four per-robot ``reach.rst`` pages used to document
``reach_tolerance=0.05`` while the YAML configs use ``0.02``. The
sparse-reward threshold and the dense-reward defaults blocks are
updated to ``0.02`` so the docs match what the envs actually run.

Author: ncbdrck

docs/envs/ned2/reach.rst

@@ -119,10 +119,10 @@ Observation Space
 Rewards
 -------
 
-**Sparse**: ``0.0`` if ``‖ee − goal‖ < 0.05`` else ``-1.0``.
+**Sparse**: ``0.0`` if ``‖ee − goal‖ < 0.02`` else ``-1.0``.
 
 **Dense**: same shape as the other robots' reach envs. Defaults
-from ``config/ned2_reach_task_config.yaml``: ``reach_tolerance=0.05``,
+from ``config/ned2_reach_task_config.yaml``: ``reach_tolerance=0.02``,
 ``multiplier_dist_reward=2.0``, ``reached_goal_reward=20``,
 ``step_reward=-0.5``.
 

docs/envs/rx200/reach.rst

@@ -118,11 +118,11 @@ z = 0.78.)
 Rewards
 -------
 
-**Sparse**: ``0.0`` if ``‖ee − goal‖ < 0.05`` else ``-1.0``.
+**Sparse**: ``0.0`` if ``‖ee − goal‖ < 0.02`` else ``-1.0``.
 
 **Dense**: dist-shaped + reached-goal bonus + per-step penalty +
 joint/none/goal-space penalties. Defaults from
-``config/rx200_reach_task_config.yaml``: ``reach_tolerance=0.05``,
+``config/rx200_reach_task_config.yaml``: ``reach_tolerance=0.02``,
 ``multiplier_dist_reward=2.0``, ``reached_goal_reward=20``,
 ``step_reward=-0.5``, ``joint_limits_reward=-2.0``,
 ``none_exe_reward=-5.0``, ``not_within_goal_space_reward=-2.0``.

docs/envs/ur5e/reach.rst

@@ -232,7 +232,7 @@ kwarg.
           + not_within_goal_space_reward  if goal sampling failed
 
 Defaults (from ``config/ur5e_reach_task_config.yaml``):
-``reach_tolerance=0.05``, ``multiplier_dist_reward=2.0``,
+``reach_tolerance=0.02``, ``multiplier_dist_reward=2.0``,
 ``reached_goal_reward=20``, ``step_reward=-0.5``,
 ``joint_limits_reward=-2.0``, ``none_exe_reward=-5.0``,
 ``not_within_goal_space_reward=-2.0``.

docs/envs/vx300s/reach.rst

@@ -172,13 +172,13 @@ world z = 0.78 — so a goal z of 0.20 is 1.0 m above the floor.)
 Rewards
 -------
 
-**Sparse** (required for HER): ``0.0`` if ``‖ee − goal‖ < 0.05`` else
+**Sparse** (required for HER): ``0.0`` if ``‖ee − goal‖ < 0.02`` else
 ``-1.0``.
 
 **Dense** (default for std env): dist-shaped penalty + reached-goal
 bonus + per-step penalty + joint-limit / non-executable / not-in-goal-
 space penalties. Defaults from ``config/vx300s_reach_task_config.yaml``:
-``reach_tolerance=0.05``, ``multiplier_dist_reward=2.0``,
+``reach_tolerance=0.02``, ``multiplier_dist_reward=2.0``,
 ``reached_goal_reward=20``, ``step_reward=-0.5``,
 ``joint_limits_reward=-2.0``, ``none_exe_reward=-5.0``,
 ``not_within_goal_space_reward=-2.0``.