save _horizon during setup

cc @vikashplus
vikashplus · Jan 12, 2024 · b8283d2 · b8283d2
1 parent 82c6ab4
commit b8283d2
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/robohive/envs/env_base.py b/robohive/envs/env_base.py
@@ -137,6 +137,9 @@ def _setup(self,
  assert not done, "Check initialization. Simulation starts in a done state."
  self.observation_space = gym.spaces.Box(obs_range[0]*np.ones(observation.size), obs_range[1]*np.ones(observation.size), dtype=np.float32)
 
+ # we copy the horizon to avoid having gymnasium hijacking it later
+ self._horizon = self.spec.max_episode_steps
+
  return
 
 
@@ -533,7 +536,7 @@ def id(self):
 
  @property
  def horizon(self):
- return self.spec.max_episode_steps # paths could have early termination before horizon
+ return self._horizon # paths could have early termination before horizon
 
 
  def get_env_state(self):