BUG: This bug omits the distal joint of the little finger from the ob…

…servation. A fix to this will break all the submitted policies. A fix to this will be pushed after the myochallenge23
MyoHub · Oct 4, 2023 · 457ab68 · 457ab68
1 parent 98d7e04
commit 457ab68
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/myosuite/envs/myo/myochallenge/relocate_v0.py b/myosuite/envs/myo/myochallenge/relocate_v0.py
@@ -12,7 +12,7 @@
 
 class RelocateEnvV0(BaseV0):
 
-    DEFAULT_OBS_KEYS = ['hand_qpos', 'hand_qvel', 'obj_pos', 'goal_pos', 'pos_err', 'obj_rot', 'goal_rot', 'rot_err']
+    DEFAULT_OBS_KEYS = ['hand_qpos_noMD5', 'hand_qvel', 'obj_pos', 'goal_pos', 'pos_err', 'obj_rot', 'goal_rot', 'rot_err']
     DEFAULT_RWD_KEYS_AND_WEIGHTS = {
         "pos_dist": 100.0,
         "rot_dist": 1.0,
@@ -68,7 +68,8 @@ def _setup(self,
     def get_obs_dict(self, sim):
         obs_dict = {}
         obs_dict['time'] = np.array([sim.data.time])
-        obs_dict['hand_qpos'] = sim.data.qpos[:-6].copy()
+        obs_dict['hand_qpos_noMD5'] = sim.data.qpos[:-7].copy() # ??? This is a bug. This needs to be qpos[:-6]. This bug omits the distal joint of the little finger from the observation. A fix to this will break all the submitted policies. A fix to this will be pushed after the myochallenge23
+        obs_dict['hand_qpos'] = sim.data.qpos[:-6].copy() # V1 of the env will use this corrected key by default
         obs_dict['hand_qvel'] = sim.data.qvel[:-6].copy()*self.dt
         obs_dict['obj_pos'] = sim.data.site_xpos[self.object_sid]
         obs_dict['goal_pos'] = sim.data.site_xpos[self.goal_sid]

diff --git a/myosuite/envs/myo/myochallenge/reorient_v0.py b/myosuite/envs/myo/myochallenge/reorient_v0.py
@@ -12,7 +12,7 @@
 
 class ReorientEnvV0(BaseV0):
 
-    DEFAULT_OBS_KEYS = ['hand_qpos', 'hand_qvel', 'obj_pos', 'goal_pos', 'pos_err', 'obj_rot', 'goal_rot', 'rot_err']
+    DEFAULT_OBS_KEYS = ['hand_qpos_noMD5', 'hand_qvel', 'obj_pos', 'goal_pos', 'pos_err', 'obj_rot', 'goal_rot', 'rot_err']
     DEFAULT_RWD_KEYS_AND_WEIGHTS = {
         "pos_dist": 100.0,
         "rot_dist": 1.0,
@@ -77,7 +77,8 @@ def _setup(self,
     def get_obs_dict(self, sim):
         obs_dict = {}
         obs_dict['time'] = np.array([sim.data.time])
-        obs_dict['hand_qpos'] = sim.data.qpos[:-7].copy()
+        obs_dict['hand_qpos_noMD5'] = sim.data.qpos[:-7].copy() # ??? This is a bug. This needs to be qpos[:-6]. This bug omits the distal joint of the little finger from the observation. A fix to this will break all the submitted policies. A fix to this will be pushed after the myochallenge23
+        obs_dict['hand_qpos'] = sim.data.qpos[:-6].copy() # V1 of the env will use this corrected key by default
         obs_dict['hand_qvel'] = sim.data.qvel[:-6].copy()*self.dt
         obs_dict['obj_pos'] = sim.data.site_xpos[self.object_sid]
         obs_dict['goal_pos'] = sim.data.site_xpos[self.goal_sid]