Merge pull request #39 from OliEfr/master

fix check for self._init_step_no evaluating to false if 0
robfiras · Sep 9, 2024 · 41a020c · 41a020c
2 parents 39a101c + cb26731
commit 41a020c
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/loco_mujoco/environments/base.py b/loco_mujoco/environments/base.py
@@ -227,7 +227,7 @@ def setup(self, obs):
             if self.trajectories is not None:
                 if self._random_start:
                     sample = self.trajectories.reset_trajectory()
-                elif self._init_step_no:
+                elif self._init_step_no is not None:
                     traj_len = self.trajectories.trajectory_length
                     n_traj = self.trajectories.number_of_trajectories
                     assert self._init_step_no <= traj_len * n_traj

diff --git a/loco_mujoco/environments/gymnasium.py b/loco_mujoco/environments/gymnasium.py
@@ -156,4 +156,4 @@ def _convert_space(space):
         low = np.min(space.low)
         high = np.max(space.high)
         shape = space.shape
-        return Box(low, high, shape, np.float64)
+        return Box(low, high, shape, np.float64)
diff --git a/loco_mujoco/environments/humanoids/base_humanoid_4_ages.py b/loco_mujoco/environments/humanoids/base_humanoid_4_ages.py
@@ -136,9 +136,9 @@ def setup(self, obs):
                         sample = self.trajectories.reset_trajectory(traj_no=traj_no)
                     else:
                         sample = self.trajectories.reset_trajectory()
-                elif self._init_step_no:
+                elif self._init_step_no is not None:
                     traj_len = self.trajectories.trajectory_length
-                    n_traj = self.trajectories.nnumber_of_trajectories
+                    n_traj = self.trajectories.number_of_trajectories
                     assert self._init_step_no <= traj_len * n_traj
                     substep_no = int(self._init_step_no % traj_len)
                     traj_no = int(self._init_step_no / traj_len)

diff --git a/loco_mujoco/environments/quadrupeds/unitreeA1.py b/loco_mujoco/environments/quadrupeds/unitreeA1.py
@@ -270,9 +270,9 @@ def setup(self, obs):
                     if self.setup_random_rot:
                         angle = np.random.uniform(0, 2 * np.pi)
                         sample = rotate_obs(sample, angle,  *self._get_relevant_idx_rotation())
-                elif self._init_step_no:
+                elif self._init_step_no is not None:
                     traj_len = self.trajectories.trajectory_length
-                    n_traj = self.trajectories.nnumber_of_trajectories
+                    n_traj = self.trajectories.number_of_trajectories
                     assert self._init_step_no <= traj_len * n_traj
                     substep_no = int(self._init_step_no % traj_len)
                     traj_no = int(self._init_step_no / traj_len)