Merge pull request #265 from MyoHub/dev

BUGFIX: Manipulation ENV

Author: Vittorio-Caggiano

myosuite/envs/myo/myochallenge/__init__.py

@@ -33,7 +33,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
 
 register_env_with_variants(id='myoChallengeBimanual-v0',
         entry_point='myosuite.envs.myo.myochallenge.bimanual_v0:BimanualEnvV1',
-        max_episode_steps=300,
+        max_episode_steps=1000,
         kwargs={
             'model_path': curr_dir + '/../assets/arm/myoarm_bionic_bimanual.xml',
             'normalize_act': True,

myosuite/envs/myo/myochallenge/bimanual_v0.py

@@ -18,6 +18,8 @@
 from myosuite.envs.myo.base_v0 import BaseV0
 
 CONTACT_TRAJ_MIN_LENGTH = 100
+GOAL_CONTACT = 10
+MAX_TIME = 10.0
 
 
 class BimanualEnvV1(BaseV0):
@@ -116,7 +118,7 @@ def _setup(self,
         self.over_max = False
         self.max_force = 0
         self.goal_touch = 0
-        self.TARGET_GOAL_TOUCH = 5
+        self.TARGET_GOAL_TOUCH = GOAL_CONTACT
 
 
         self.touch_history = []
@@ -291,10 +293,10 @@ def get_reward_dict(self, obs_dict):
         return rwd_dict
 
     def _get_done(self, z):
-        if self.obs_dict['time'] > 3.0:
+        if self.obs_dict['time'] > MAX_TIME:
             return 1  
         elif z < 0.3:
-            self.obs_dict['time'] = 3.0
+            self.obs_dict['time'] = MAX_TIME
             return 1
         elif self.rwd_dict and self.rwd_dict['solved']:
             return 1
@@ -448,9 +450,9 @@ def get_touching_objects(model: mujoco.MjModel, data: mujoco.MjData, id_info: Id
 
 
 def body_id_to_label(body_id, id_info: IdInfo):
-    if id_info.myo_body_range[0] < body_id < id_info.myo_body_range[1]:
+    if id_info.myo_body_range[0] <= body_id <= id_info.myo_body_range[1]:
         return ObjLabels.MYO
-    elif id_info.prosth_body_range[0] < body_id < id_info.prosth_body_range[1]:
+    elif id_info.prosth_body_range[0] <= body_id <= id_info.prosth_body_range[1]:
         return ObjLabels.PROSTH
     elif body_id == id_info.start_id:
         return ObjLabels.START
@@ -474,5 +476,5 @@ def evaluate_contact_trajectory(contact_trajectory: List[set]):
         return ContactTrajIssue.PROSTH_SHORT
 
     # Check if only goal was touching object for the last CONTACT_TRAJ_MIN_LENGTH frames
-    elif not np.all([{ObjLabels.GOAL} == s for s in contact_trajectory[-CONTACT_TRAJ_MIN_LENGTH:]]):
+    elif not np.all([{ObjLabels.GOAL} == s for s in contact_trajectory[-GOAL_CONTACT + 2:]]): # Subtract 2 from the calculation to maintain a buffer zone around trajectory boundaries for safety/accuracy.
         return ContactTrajIssue.NO_GOAL