Mujoco is all you need (#100)

famura · Nov 3, 2023 · 3864c52 · 3864c52
1 parent 2477928
commit 3864c52
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/Pyrado/pyrado/environments/mujoco/quanser_qube.py b/Pyrado/pyrado/environments/mujoco/quanser_qube.py
@@ -124,7 +124,10 @@ def _mujoco_step(self, act: np.ndarray) -> dict:
         self.data.ctrl[:] = torque
 
         # Call MuJoCo
-        mujoco.mj_step(self.model, self.data)
+        try:
+            mujoco.mj_step(self.model, self.data)
+        except mujoco.FatalError:
+            mjsim_crashed = True
 
         qpos = self.data.qpos.copy()
         qvel = self.data.qvel.copy()