gym_aloha/tasks/sim.py [118:149]:
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        super().initialize_episode(physics)

    @staticmethod
    def get_env_state(physics):
        env_state = physics.data.qpos.copy()[16:]
        return env_state

    def get_reward(self, physics):
        # return whether left gripper is holding the box
        all_contact_pairs = []
        for i_contact in range(physics.data.ncon):
            id_geom_1 = physics.data.contact[i_contact].geom1
            id_geom_2 = physics.data.contact[i_contact].geom2
            name_geom_1 = physics.model.id2name(id_geom_1, "geom")
            name_geom_2 = physics.model.id2name(id_geom_2, "geom")
            contact_pair = (name_geom_1, name_geom_2)
            all_contact_pairs.append(contact_pair)

        touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
        touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
        touch_table = ("red_box", "table") in all_contact_pairs

        reward = 0
        if touch_right_gripper:
            reward = 1
        if touch_right_gripper and not touch_table:  # lifted
            reward = 2
        if touch_left_gripper:  # attempted transfer
            reward = 3
        if touch_left_gripper and not touch_table:  # successful transfer
            reward = 4
        return reward
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gym_aloha/tasks/sim_end_effector.py [153:184]:
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        super().initialize_episode(physics)

    @staticmethod
    def get_env_state(physics):
        env_state = physics.data.qpos.copy()[16:]
        return env_state

    def get_reward(self, physics):
        # return whether left gripper is holding the box
        all_contact_pairs = []
        for i_contact in range(physics.data.ncon):
            id_geom_1 = physics.data.contact[i_contact].geom1
            id_geom_2 = physics.data.contact[i_contact].geom2
            name_geom_1 = physics.model.id2name(id_geom_1, "geom")
            name_geom_2 = physics.model.id2name(id_geom_2, "geom")
            contact_pair = (name_geom_1, name_geom_2)
            all_contact_pairs.append(contact_pair)

        touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
        touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
        touch_table = ("red_box", "table") in all_contact_pairs

        reward = 0
        if touch_right_gripper:
            reward = 1
        if touch_right_gripper and not touch_table:  # lifted
            reward = 2
        if touch_left_gripper:  # attempted transfer
            reward = 3
        if touch_left_gripper and not touch_table:  # successful transfer
            reward = 4
        return reward
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