7006c7a182a991b9409c206c56abc121eaffafb5,gym/envs/robotics/hand/manipulate_touch_sensors.py,ManipulateTouchSensorsEnv,_get_obs,#ManipulateTouchSensorsEnv#,75

Before Change

        if self.touch_get_obs == "boolean":
            for touch_sensor_id, site_id in self._touch_sensor_id_site_id:
                value = 1.0 if self.sim.data.sensordata[touch_sensor_id] != 0.0 else 0.0
                touch_values.append(value)
        elif self.touch_get_obs == "log":
            for touch_sensor_id, site_id in self._touch_sensor_id_site_id:
                value = self.sim.data.sensordata[touch_sensor_id]
                touch_values.append(value)

After Change

        object_qvel = self.sim.data.get_joint_qvel("object:joint")
        achieved_goal = self._get_achieved_goal().ravel()  // this contains the object position + rotation
        touch_values = []  // get touch sensor readings. if there is one, set value to 1
        if self.touch_get_obs == "sensordata":
            touch_values = self.sim.data.sensordata[self._touch_sensor_id]
        elif self.touch_get_obs == "boolean":
            touch_values = self.sim.data.sensordata[self._touch_sensor_id] > 0.0
        elif self.touch_get_obs == "log":
            touch_values = np.log(self.sim.data.sensordata[self._touch_sensor_id] + 1.0)
        observation = np.concatenate([robot_qpos, robot_qvel, object_qvel, touch_values, achieved_goal])

        return {
            "observation": observation.copy(),

Instances