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Fixing missing number of steps check #435

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merged 3 commits into from
Aug 9, 2023
Merged

Fixing missing number of steps check #435

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bc6fa0e
Fixing missing number of steps check
reginald-mclean Jul 29, 2023
f16371f
Re-running pre-commit
reginald-mclean Aug 3, 2023
13eec08
removing getattr use
reginald-mclean Aug 8, 2023
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5 changes: 5 additions & 0 deletions metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -459,6 +459,10 @@ def step(self, action):
assert len(action) == 4, f"Actions should be size 4, got {len(action)}"
self.set_xyz_action(action[:3])
self.do_simulation([action[-1], -action[-1]], n_frames=self.frame_skip)
if getattr(self, "curr_path_length", 0) > self.max_path_length:
raise ValueError(
"Maximum path length allowed by the benchmark has been exceeded"
)
self.curr_path_length += 1

# Running the simulator can sometimes mess up site positions, so
Expand All @@ -470,6 +474,7 @@ def step(self, action):
return (
self._last_stable_obs, # observation just before going unstable
0.0, # reward (penalize for causing instability)
False,
False, # termination flag always False
{ # info
"success": False,
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