Better truncated

rtgym/envs/real_time_env.py

@@ -308,7 +308,7 @@ def __init__(self, config: dict=DEFAULT_CONFIG_DICT):
         self.last_act_on_reset = config["last_act_on_reset"] if "last_act_on_reset" in config else False
         self.act_prepro_func: callable = config["act_prepro_func"] if "act_prepro_func" in config else None
         self.obs_prepro_func = config["obs_prepro_func"] if "obs_prepro_func" in config else None
-        self.ep_max_length = config["ep_max_length"] - 1
+        self.ep_max_length = config["ep_max_length"]
 
         self.time_step_duration = config["time_step_duration"] if "time_step_duration" in config else 0.0
         self.time_step_timeout_factor = config["time_step_timeout_factor"] if "time_step_timeout_factor" in config else 1.0
@@ -330,7 +330,6 @@ def __init__(self, config: dict=DEFAULT_CONFIG_DICT):
         self.__obs = None
         self.__rew = None
         self.__terminated = None
-        self.__truncated = None
         self.__info = None
         self.__o_set_flag = False
 
@@ -452,12 +451,11 @@ def __update_obs_rew_terminated_truncated(self):
         """
         self.__o_lock.acquire()
         o, r, d, i = self.interface.get_obs_rew_terminated_info()
-        t = (self.current_step >= self.ep_max_length) if not d else False
         elt = o
         if self.obs_prepro_func:
             elt = self.obs_prepro_func(elt)
         elt = tuple(elt)
-        self.__obs, self.__rew, self.__terminated, self.__truncated, self.__info = elt, r, d, t, i
+        self.__obs, self.__rew, self.__terminated, self.__info = elt, r, d, i
         self.__o_set_flag = True
         self.__o_lock.release()
 
@@ -468,11 +466,11 @@ def _retrieve_obs_rew_terminated_truncated_info(self):
         while c:
             self.__o_lock.acquire()
             if self.__o_set_flag:
-                elt, r, d, t, i = self.__obs, self.__rew, self.__terminated, self.__truncated, self.__info
+                elt, r, d, i = self.__obs, self.__rew, self.__terminated, self.__info
                 self.__o_set_flag = False
                 c = False
             self.__o_lock.release()
-        return elt, r, d, t, i
+        return elt, r, d, i
 
     def init_action_buffer(self):
         for _ in range(self.act_buf_len):
@@ -551,7 +549,8 @@ def step(self, action):
             self._run_time_step(action)
         if not self.running:
             raise RuntimeError("The episode is terminated or truncated. Call reset before step.")
-        obs, rew, terminated, truncated, info = self._retrieve_obs_rew_terminated_truncated_info()
+        obs, rew, terminated, info = self._retrieve_obs_rew_terminated_truncated_info()
+        truncated = (self.current_step >= self.ep_max_length) if not terminated else False
         done = (terminated or truncated)
         if not done:  # apply action only when not done
             self._run_time_step(action)