From 09b1f2e9a8e57d5062e37abd0b002c29178d452a Mon Sep 17 00:00:00 2001 From: Whi Kwon <30768596+whikwon@users.noreply.github.com> Date: Thu, 30 May 2019 22:39:44 +0900 Subject: [PATCH] Fix episode unreset bug (#62) --- .../envs/open_manipulator/open_manipulator_reacher_env.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py index 1b2c730..7315b2f 100755 --- a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py +++ b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py @@ -76,10 +76,11 @@ class OpenManipulatorReacherEnv(gym.Env): if self.env_mode == "sim": self.reward = self.compute_reward() # TODO: Add termination condition - # if self.ros_interface.check_for_termination(): - # self.done = True + # if self.ros_interface.check_for_termination(): + # self.done = True if self.ros_interface.check_for_success(): self.done = True + self.episode_steps = 0 obs = self.ros_interface.get_observation()