Contact information on Myochallenge bimanual tasks

[raku-slyu]

The observation matrix for the contact information doesn't reflect the state of the environment at the first few steps. Thanks to @jamesheald for raising this issue.

Code to reproduce

from myosuite.utils import gym

import time

import numpy as np

env = gym.make('myoChallengeBimanual-v0')

env.reset()


for i in range(800):
  env.mj_render()

  geom_1_indices = np.where(env.sim.model.geom_group == 1)
  # Change the alpha value to make it transparent
  env.sim.model.geom_rgba[geom_1_indices, 3] = 0

  act = env.action_space.sample()
  next_o, r, done, *_, ifo = env.step(act) # take an action based on the current observation
      

  obs_dict = env.obs_dict
  print(obs_dict['touching_body'])

  if done == True:
      env.reset()
      pass

  time.sleep(0.02)

env.reset()
env.close()

quit()

Observed output:

[0 0 0 0 0] [0 0 0 0 0] [0 0 0 0 0] [0 0 0 0 0] [0 0 0 0 0] [0 0 1 0 0] [0 0 0 0 0] [0 0 0 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 0 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 1 0 0] [0 0 1 0 0]

expected output to be all [0 0 1 0 0 ]