fix bug where failure is not used for termination

haosulab · Feb 29, 2024 · dc88432 · dc88432
1 parent 1683a01
commit dc88432
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mani_skill2/envs/sapien_env.py b/mani_skill2/envs/sapien_env.py
@@ -736,7 +736,7 @@ def step(self, action: Union[None, np.ndarray, torch.Tensor, Dict]):
                 terminated = info["success"].clone()
         else:
             if "fail" in info:
-                terminated = info["success"].clone()
+                terminated = info["fail"].clone()
             else:
                 terminated = torch.zeros(self.num_envs, dtype=bool, device=self.device)