From 64fb1186ae240ecf19c1762fa5059d611735350a Mon Sep 17 00:00:00 2001 From: whikwon Date: Mon, 15 Apr 2019 23:13:52 +0900 Subject: [PATCH] Move max_episode_step condition check position --- .../envs/open_manipulator/open_manipulator_reacher_env.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py index 3853bd9..ea0902a 100755 --- a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py +++ b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py @@ -43,6 +43,7 @@ class OpenManipulatorReacherEnv(gym.Env): else: self.ros_interface = OpenManipulatorRosRealInterface() + self.episode_steps = 0 self.done = False self.reward = 0 @@ -67,6 +68,7 @@ class OpenManipulatorReacherEnv(gym.Env): Tuple of obs, reward_rescale * reward, done """ self.done = False + self.episode_steps += 1 act = action.flatten().tolist() self.ros_interface.set_joints_position(act) @@ -80,6 +82,10 @@ class OpenManipulatorReacherEnv(gym.Env): obs = self.ros_interface.get_observation() + if self.episode_steps == self._max_episode_steps: + self.done = True + self.episode_steps = 0 + return obs, self.reward_rescale_ratio * self.reward, self.done, None def reset(self):