Merge pull request #247 from elladyr/fix_loco_obs

BUGFIX: Fix mc24 loco obs helper functions
MyoHub · Sep 27, 2024 · ba63e88 · ba63e88
2 parents d0a667b + 0f6b1e4
commit ba63e88
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/myosuite/envs/myo/myochallenge/run_track_v0.py b/myosuite/envs/myo/myochallenge/run_track_v0.py
@@ -178,8 +178,8 @@ def get_obs_dict(self, sim):
         obs_dict['terrain'] = np.array([self.terrain_type])
 
         # proprioception
-        obs_dict['internal_qpos'] = self.get_internal_qpos() #sim.data.qpos[7:].copy()
-        obs_dict['internal_qvel'] = self.get_internal_qvel() #sim.data.qvel[6:].copy() * self.dt
+        obs_dict['internal_qpos'] = self.get_internal_qpos()
+        obs_dict['internal_qvel'] = self.get_internal_qvel()
         obs_dict['grf'] = self._get_grf().copy()
         obs_dict['socket_force'] = self._get_socket_force().copy()
         obs_dict['torso_angle'] = self.sim.data.body('pelvis').xquat.copy()
@@ -533,6 +533,7 @@ def get_internal_qpos(self):
         counter = 0
         for jnt in self.biological_jnt:
             temp_qpos[counter] = self.sim.data.joint(jnt).qpos[0].copy()
+            counter+=1
         return temp_qpos
 
     def get_internal_qvel(self):
@@ -543,6 +544,7 @@ def get_internal_qvel(self):
         counter = 0
         for jnt in self.biological_jnt:
             temp_qvel[counter] = self.sim.data.joint(jnt).qvel[0].copy()
+            counter+=1
         return temp_qvel * self.dt
 
     def muscle_lengths(self):
@@ -553,6 +555,7 @@ def muscle_lengths(self):
         counter = 0
         for jnt in self.biological_act:
             temp_len[counter] = self.sim.data.actuator(jnt).length[0].copy()
+            counter+=1
         return temp_len
 
     def muscle_forces(self):
@@ -563,6 +566,7 @@ def muscle_forces(self):
         counter = 0
         for jnt in self.biological_act:
             temp_frc[counter] = self.sim.data.actuator(jnt).force[0].copy()
+            counter+=1
 
         return np.clip(temp_frc / 1000, -100, 100)
 
@@ -574,6 +578,7 @@ def muscle_velocities(self):
         counter = 0
         for jnt in self.biological_act:
             temp_vel[counter] = self.sim.data.actuator(jnt).velocity[0].copy()
+            counter+=1
 
         return np.clip(temp_vel, -100, 100)