issue of scripted_policy

[QNXLQ]

Thanks for your working.

Nearly, I'm try to modify the function generation_trajectory of class PckAndTransferPolicy in the file scripted_policy.py, increase the timesteps and the description "episode_len" of mission in the constante.py, for example, add waypoints in the trajectory and increase the total timesteps to 800.

But in the simulation, the robot and the env always be reseted to the initial at the timestep 400, and at the ts.reward will return to None, I don't know why, is any other file need to be modified?

By the way, if the new total timesteps is smaller, like 300, the simulation will be normal.

Here are where I modified:

In the scripted_policy.py:

class PickAndTransferPolicy(BasePolicy):
     def generate_trajectory(self, ts_first):
          ......
          ......
          self.left_trajectory = {
          {"t": 0, "xyz".........},
          {"t": 175, "xyz".........},
          {"t": 211, "xyz".........},
          {"t": 285, "xyz".........},
          {"t": 295, "xyz".........},
          {"t": 325, "xyz".........},
          {"t": 350, "xyz".........},
          {"t": 400, "xyz".........},
          {"t": 470, "xyz".........},
          {"t": 530, "xyz".........},
          {"t": 600, "xyz".........},
          {"t": 720, "xyz".........},
          {"t": 800, "xyz".........},
          }

          self.right_trajectory = {
          {"t": 0, "xyz".........},
          {"t": 175, "xyz".........},
          {"t": 211, "xyz".........},
          {"t": 285, "xyz".........},
          {"t": 295, "xyz".........},
          {"t": 325, "xyz".........},
          {"t": 350, "xyz".........},
          {"t": 400, "xyz".........},
          {"t": 470, "xyz".........},
          {"t": 530, "xyz".........},
          {"t": 600, "xyz".........},
          {"t": 720, "xyz".........},
          {"t": 800, "xyz".........},
          }

And in the In the constante.py:

SIM_TASK_CONFIGS = {
    'task_name':{
    'dataset_dir': ...,
    'num_episodes':50,
    'episode_len':800,
    'camera_names': 'cam',
    }
}