def get_reward()

in gym_aloha/tasks/sim.py [0:0]

• 22 lines of code
• 8 McCabe index (conditional complexity)

    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