[ex.3] Joint angle cannot pass the test

[dehezhang2]

May I ask a question about the joint angle calculation? It seems that my calculation has a small error:

In the task description, the number of joints is 43, but in the ObservationData class the size of the joint_angles array is 44. Is it possible that this mismatch caused the error?

[steinraf]

I am also getting a similarly offset of 0.009954251707404079.

As a side question, does the calculation of your torque work for the dog gaussian and the human reward?

[dehezhang2]

The torque part can pass the test.

[yitongx]

I also encountered the same issue.

Obtained: 0.00995425170740408 Expected: 0.009990833552124415 ± 1.0e-08

[MiguelZamoraM]

There was a small error creating the test case for Bob. I'm training Bob again to make sure that everything works.
I will update that test case during the day.

[MiguelZamoraM]

• Download this file and put it under src/src/python/tests/pickled_files/.

• Add the file to the repo using: git add test_data_bob1679334591.29026.pickle

• Update the variable pickle_path in line 8 of src/python/tests/03_test_human_reward.py to reflect the changes i.e: pickle_path = '/pickled_files/test_data_bob1679334591.29026.pickle'

• Commit and push the changes. Correct implementations should pass the test.

[dehezhang2]

Should we also change the directory in line 8 of the file ./src/python/tests/03_test_human_reward.py?

[MiguelZamoraM]

Yes. Please update the variable pickle_path in line 8 of src/python/tests/03_test_human_reward.py to reflect the changes i.e: pickle_path = '/pickled_files/test_data_bob1679334591.29026.pickle'

[drlxj]

Do you also change the number of joints from 43 to 44? I pass the test if I choose 44, but in Readme the variable is requested to be 43.

[MiguelZamoraM]

@drlxj The actual number of joints is 44. I just fixed the typo on the README.