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Changing step to return truncate=True #445

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merged 4 commits into from
Oct 11, 2023
Merged

Changing step to return truncate=True #445

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e76738d
Changing step to return truncate=True when curr_path_length equals ma…
reginald-mclean Oct 5, 2023
e994282
removing extra whitespace
reginald-mclean Oct 5, 2023
60cbed9
updating pre-commit
reginald-mclean Oct 5, 2023
6e034fc
Changed from equal to max steps, to greater than or equal to max steps
reginald-mclean Oct 6, 2023
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14 changes: 8 additions & 6 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 @@ -458,11 +458,9 @@ def sawyer_observation_space(self):
def step(self, action):
assert len(action) == 4, f"Actions should be size 4, got {len(action)}"
self.set_xyz_action(action[:3])
if self.curr_path_length == self.max_path_length:
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Should this be greater than or equal?

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@pseudo-rnd-thoughts yeah that's fair. My thinking was that it should be impossible to ever get past the max path length but I can make that change

raise ValueError("You must reset the env manually once truncate==True")
self.do_simulation([action[-1], -action[-1]], n_frames=self.frame_skip)
if self.curr_path_length > 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 Down Expand Up @@ -496,12 +494,16 @@ def step(self, action):
dtype=np.float64,
)
reward, info = self.evaluate_state(self._last_stable_obs, action)
# step will never return a terminal if there is a success
# step will never return a terminate==True if there is a success
# but we can return truncate=True if the current path length == max path length
truncate = False
if self.curr_path_length == self.max_path_length:
truncate = True
return (
np.array(self._last_stable_obs, dtype=np.float64),
reward,
False,
False,
truncate,
info,
)

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