BUGFIX: Updated envs with the same horizon as the MyoChallenge envs

vikashplus · Jan 4, 2023 · 36df69c · 36df69c
1 parent b09b5a2
commit 36df69c
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Showing 4 changed files with 5 additions and 6 deletions.
diff --git a/mj_envs/envs/myo/myochallenge/__init__.py b/mj_envs/envs/myo/myochallenge/__init__.py
@@ -7,7 +7,7 @@
 # MyoChallenge Die: Trial env
 register(id='myoChallengeDieReorientDemo-v0',
         entry_point='mj_envs.envs.myo.myochallenge.reorient_v0:ReorientEnvV0',
-        max_episode_steps=50,
+        max_episode_steps=150,
         kwargs={
             'model_path': curr_dir+'/../assets/hand/myo_hand_die.xml',
             'normalize_act': True,
@@ -20,7 +20,7 @@
 # MyoChallenge Die: Phase1 env
 register(id='myoChallengeDieReorientP1-v0',
         entry_point='mj_envs.envs.myo.myochallenge.reorient_v0:ReorientEnvV0',
-        max_episode_steps=50,
+        max_episode_steps=150,
         kwargs={
             'model_path': curr_dir+'/../assets/hand/myo_hand_die.xml',
             'normalize_act': True,
@@ -32,7 +32,7 @@
 # MyoChallenge Die: Phase2 env
 register(id='myoChallengeDieReorientP2-v0',
         entry_point='mj_envs.envs.myo.myochallenge.reorient_v0:ReorientEnvV0',
-        max_episode_steps=50,
+        max_episode_steps=150,
         kwargs={
             'model_path': curr_dir+'/../assets/hand/myo_hand_die.xml',
             'normalize_act': True,

diff --git a/mj_envs/envs/myo/myochallenge/reorient_v0.py b/mj_envs/envs/myo/myochallenge/reorient_v0.py
@@ -111,7 +111,6 @@ def get_reward_dict(self, obs_dict):
         ))
         rwd_dict['dense'] = np.sum([wt*rwd_dict[key] for key, wt in self.rwd_keys_wt.items()], axis=0)
 
-        # print(rwd_dict['solved'], rwd_dict['done'])
         # Sucess Indicator
         self.sim.model.site_rgba[self.success_indicator_sid, :2] = np.array([0, 2]) if rwd_dict['solved'] else np.array([2, 0])
         return rwd_dict

diff --git a/mj_envs/envs/myo/sync_myo.sh b/mj_envs/envs/myo/sync_myo.sh
@@ -1,4 +1,4 @@
-# Utility script to sync between mj_envs to myosuite repo repository
+# Utility script to sync from mj_envs to myosuite repo repository
 # Note: that its a one way sync at the moment "mj_envs => myosuite"
 # Usage: .sync_myo.sh <full_path>/mj_envs/ <full_path>/myoSuite/
 

diff --git a/mj_envs/tests/test_myo.py b/mj_envs/tests/test_myo.py
@@ -40,7 +40,7 @@ def test_myochallenge(self):
             'myoChallengeDieReorientDemo-v0', 'myoChallengeDieReorientP1-v0', 'myoChallengeDieReorientP2-v0',
             'myoChallengeBaodingP1-v1', 'myoChallengeBaodingP2-v1'
         ]
-        self.check_envs('Myo', env_names)
+        self.check_envs('MyoChallenge', env_names)
 
 if __name__ == '__main__':
     unittest.main()