Added time limit to bimanual

MyoHub · Sep 17, 2024 · f664496 · f664496
1 parent 266df0a
commit f664496
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/myosuite/envs/myo/myochallenge/bimanual_v0.py b/myosuite/envs/myo/myochallenge/bimanual_v0.py
@@ -257,6 +257,9 @@ def get_reward_dict(self, obs_dict):
         elbow_err = 5 * np.exp(-10 * (obs_dict['elbow_fle'][0] - 1.) ** 2) - 5
         goal_dis = np.array(
             [[np.abs(np.linalg.norm(obj_pos[:2] - goal_pos, axis=-1))]])
+
+        isTimeLimit = obs_dict['time'] > 3.0
+
         rwd_dict = collections.OrderedDict(
             (
                 # Optional Keys
@@ -271,7 +274,7 @@ def get_reward_dict(self, obs_dict):
                 ("sparse", 0),
                 ("goal_dist", goal_dis), 
                 ("solved", goal_dis < self.proximity_th),
-                ("done", goal_dis < self.proximity_th),
+                ("done", isTimeLimit),
             )
         )